Modelling and control of helicopter robotic landing gear for uneven ground conditions

Research Output

This paper proposes a method to investigate into helicopter landing on uneven terrain by means of using a scaled articulated robotic landing gear. A mathematical model of an articulated robotic landing gear that adapts to uneven ground conditions is considered. The model consists of a planar landing gear composed of two legs connected by a base and a skid at each end. Each skid has two degrees of freedom with PID joint controllers to provide stability while landing. A combination of Lagrange and Newton-Euler techniques is used to model the system dynamics. This work also includes a model of the ground interaction, a thrust controller and a level controller to maintain stability while landing. Experimental results with a laboratory-build scaled prototype are included and compared with the simulations.

Date:

09 November 2017
Publication Status:

Published
Publisher

Institute of Electrical and Electronics Engineers
DOI:

10.1109/RED-UAS.2017.8101644
Library of Congress:

TJ Mechanical engineering and machinery
Dewey Decimal Classification:

620 Engineering and allied operations
Funders:

Edinburgh Napier Funded

http://researchrepository.napier.ac.uk/output/990344 <p>Boix, D. M., Goh, K., & McWhinnie, J. (2017). Modelling and control of helicopter robotic landing gear for uneven ground conditions. In <i>Proceedings of 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2017</i>https://doi.org/10.1109/RED-UAS.2017.8101644</p>

Citation

Boix, D. M., Goh, K., & McWhinnie, J. (2017). Modelling and control of helicopter robotic landing gear for uneven ground conditions. In Proceedings of 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2017https://doi.org/10.1109/RED-UAS.2017.8101644