Skip to main content

Research Repository

Advanced Search

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

Boix, Daniel Melia; Goh, Keng; McWhinnie, James

Authors

Daniel Melia Boix

James McWhinnie



Abstract

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.

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

Conference Name 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Conference Location Auckland, New Zealand
Start Date Jul 9, 2018
End Date Jul 12, 2018
Acceptance Date Sep 3, 2018
Publication Date Sep 3, 2018
Deposit Date Oct 25, 2018
Publicly Available Date Mar 28, 2024
Publisher Institute of Electrical and Electronics Engineers
Series ISSN 2159-6255
Book Title 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
ISBN 9781538618547
DOI https://doi.org/10.1109/aim.2018.8452431
Keywords PID control , robotic landing gear , nonlinear dynamic model , contact model , level controller , simulations
Public URL http://researchrepository.napier.ac.uk/Output/1322933

Files

Helicopter Lands on Uneven Terrain by means of Articulated Robotic Legs (637 Kb)
PDF

Copyright Statement
© 20XX IEEE







You might also like



Downloadable Citations