Design of a gust-attenuation controller for landing operations of Unmanned Autonomous Helicopters

Yang, Xilin, Pota, Hemanshu, & Garratt, Matt (2011) Design of a gust-attenuation controller for landing operations of Unmanned Autonomous Helicopters. In Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE, IEEE, St. Petersburg, Russia, pp. 1300-1305.

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Abstract

This paper presents an innovative and practical approach to controlling heave motion in the presence of acute stochastic atmospheric disturbances during landing operations of an Unmanned Autonomous Helicopter (UAH). A heave motion model of an UAH is constructed for the purpose of capturing dynamic variations of thrust due to horizontal wind gusts. Additionally, through construction of an effective observer to estimate magnitudes of random gusts, a promising and feasible feedback-feedforward PD controller is developed, based on available measurements from onboard equipment. The controller dynamically and synchronously compensates for aerodynamic variations of heave motion resulting from gust influence, to increase the disturbance-attenuation ability of the UAH in a windy environment. Simulation results justify the reliability and efficiency of the suggested gust observer to estimate gust levels when applied to the heave motion model of a small unmanned helicopter, and verify suitability of the recommended control strategy to realistic environmental conditions.

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10 citations in Scopus
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ID Code: 63437
Item Type: Conference Paper
Refereed: Yes
Keywords: helicopter control, feed-forward control
DOI: 10.1109/CCA.2009.5281074
ISBN: 9781424446025
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Flight Dynamics (090106)
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 2009 IEEE
Deposited On: 17 Oct 2013 06:10
Last Modified: 30 Oct 2013 04:27

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