Flight validation of a feedforward gust-attenuation controller for an autonomous helicopter

Yang, Xilin, Garratt, Matt, & Pota, Hemanshu (2011) Flight validation of a feedforward gust-attenuation controller for an autonomous helicopter. Robotics and Autonomous Systems, 59(12), pp. 1070-1079.

View at publisher


This paper presents a practical scheme to control heave motion for hover and automatic landing of a Rotary-wing Unmanned Aerial Vehicle (RUAV) in the presence of strong horizontal gusts. A heave motion model is constructed for the purpose of capturing dynamic variations of thrust due to horizontal gusts. Through construction of an effective gust estimator, a feedback-feedforward controller is developed which uses available measurements from onboard sensors. The proposed controller dynamically and synchronously compensates for aerodynamic variations of heave motion, enhancing disturbance-attenuation capability of the RUAV. Simulation results justify the reliability and efficiency of the suggested gust estimator. Moreover, flight tests conducted on our Eagle helicopter verify suitability of the proposed control strategy for small RUAVs operating in a gusty environment.

Impact and interest:

8 citations in Scopus
Search Google Scholar™
6 citations in Web of Science®

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

90 since deposited on 17 Oct 2013
17 in the past twelve months

Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

ID Code: 63436
Item Type: Journal Article
Refereed: Yes
Keywords: Autonomous helicopter, Feed-forward control, Rotary-wing unmanned aerial vehicle, Gust estimator, Gust attenuation
DOI: 10.1016/j.robot.2011.08.004
ISSN: 0921-8890
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2011 Elsevier B.V.
Copyright Statement: NOTICE: this is the author’s version of a work that was accepted for publication in Robotics and Autonomous Systems. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Robotics and Autonomous Systems, [Volume 59, Issue 12, (December 2011)] DOI: 10.1016/j.robot.2011.08.004
Deposited On: 17 Oct 2013 05:29
Last Modified: 30 Oct 2013 11:52

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page