NDLI: Hovering Stability of Helicopters With Elastic Constraints

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Paul, E. I. Pounds Dollar, Aaron
Copyright Year	2010
Abstract	Aerial vehicles are difficult to stabilize, especially when acted upon by external forces. A hovering vehicle in contact with objects and surfaces must maintain flight stability while subject to forces imparted to the airframe through the point of contact. These forces couple with the motion of the aircraft to produce distinctly different dynamics from free flight. While external contact is generally avoided, extending aerial robot functionality to include contact with the environment during flight opens up new and useful areas such as perching, object grasping and manipulation. In this paper, we present a general elastic contact constraint model and analyze helicopter stability in the presence of those contacts. As an example, we evaluate the stability of a proof-of-concept helicopter system for manipulating objects using a compliant gripper that can be modeled as an elastic linkage with angular reaction forces. An off-the-shelf PID flight controller is used to stabilize the helicopter in free flight, as well as during the aerial manipulation task. We show that the planar dynamics of the object-helicopter system in vertical, horizontal and pitch motion around equilibrium are shown to remain stable, within a range of contact stiffnesses, under unmodified PID control.
Sponsorship	Dynamic Systems and Control Division
Starting Page	781
Ending Page	788
Page Count	8
File Format	PDF
ISBN	9780791844182
DOI	10.1115/DSCC2010-4166
e-ISBN	9780791838846
Volume Number	ASME 2010 Dynamic Systems and Control Conference, Volume 2
Conference Proceedings	ASME 2010 Dynamic Systems and Control Conference
Language	English
Publisher Date	2010-09-12
Publisher Place	Cambridge, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Linkages Stability Helicopters Dynamics (mechanics) Flight Equilibrium (physics) Control equipment Grasping Aircraft Grippers Robots Vehicles
Content Type	Text
Resource Type	Article

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