Helicopter Lands on Uneven Terrain by means of Articulated Robotic Legs-Modelling, Simulation and Control Approach

Research Output

In this paper, a 3D mathematical model of a helicopter attached to a robotic landing gear is proposed to investigate into helicopter landing on uneven terrain. The landing gear consists of four articulated legs connected to the helicopter fuselage. Each leg has two revolute joints governed by PID joint controllers to generate motion with two degrees of freedom (DoF). A combination of Lagrange and Newton-Euler techniques is used to model the system dynamics, its motion and joint torques. A contact model is introduced to simulate ground interaction forces and a level controller that uses a PI algorithm to maintain the main body desired attitude when landing in two-axes slopes. Simulation results are compared to a second model designed using the SimMechanics toolbox for validation purpose.

Date:

03 September 2018
Publication Status:

Published
Publisher

IEEE
DOI:

10.1109/aim.2018.8452431
Library of Congress:

TJ Mechanical engineering and machinery
Dewey Decimal Classification:

629.836 Adaptive Control Systems
Funders:

Edinburgh Napier Funded

http://researchrepository.napier.ac.uk/output/1322933 <p>Boix, D. M., Goh, K., & McWhinnie, J. (2018). Helicopter Lands on Uneven Terrain by means of Articulated Robotic Legs-Modelling, Simulation and Control Approach. In <i>2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)</i>https://doi.org/10.1109/aim.2018.8452431</p>

Citation

Boix, D. M., Goh, K., & McWhinnie, J. (2018). Helicopter Lands on Uneven Terrain by means of Articulated Robotic Legs-Modelling, Simulation and Control Approach. In 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)https://doi.org/10.1109/aim.2018.8452431