Research Output

Control of rotorcraft landing gear on different ground conditions

  This paper presents an example of a PID controller applied to a 2-dimensional rotorcraft landing gear with two DOF (degrees of freedom), as well as the design of the landing gear dynamic model. The focus of this work is to maintain the landing spot to prevent the landing gear from skidding sideways on the ground, while adapting to different ground conditions. A nonlinear model for the landing gear dynamics formulated by solving Lagrange equation, is described in detailed, as well as the angle generation equations to provide reference signal to the system. The simulation results based on different surface conditions are presented.

  • Date:

    05 September 2016

  • Publication Status:


  • Publisher

    Institute of Electrical and Electronics Engineers (IEEE)

  • DOI:


  • Library of Congress:

    TJ Mechanical engineering and machinery

  • Dewey Decimal Classification:

    629.836 Adaptive Control Systems

  • Funders:

    Edinburgh Napier Funded


Goh, K., Boix, D. M., McWhinnie, J., & Smith, G. (2016). Control of rotorcraft landing gear on different ground conditions. In 2016 IEEE International Conference on Mechatronics and Automation (ICMA)



Adaptive control, PID Control, rotorcraft landing gear, dynamic model, simulation

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