Active Decoupling Control for a Planetary Coaxial Helicopter Using Force Feedback

Brijith Balakrishnan; null Shamrao; R. Aditya; S. Narendra Nath; Sujay Narayana; R. Venkatesha Prasad

doi:10.1109/ICUFN.2018.8437000

Active Decoupling Control for a Planetary Coaxial Helicopter Using Force Feedback

Brijith Balakrishnan, Shamrao, R. Aditya, S. Narendra Nath, Sujay Narayana, R. Venkatesha Prasad

Embedded Systems

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

Abstract

Drones developed for interplanetary space missions require full autonomy of operations including safe landing and hovering due to the delay in communication. For operation in low atmospheric densities, coaxial helicopters are best suited and they are capable of handling manoeuvres due to their small footprints and ease of operation. However, the dynamics of the helicopter is coupled in lateral axes which need to be compensated for precise control. The present solutions include vision-based tracking in order to decouple the dynamics, which needs additional hardware. In this paper, a decoupling controller is presented that employs an accelerometer-based force feedback system for measuring the undesired forces in off-axis which does not need any additional hardware. The simulation results indicate that the force feedback methodology is very effective in controlling the off-axis drift of the coaxial helicopter.

Original language	English
Title of host publication	2018 Tenth International Conference on Ubiquitous and Future Networks (ICUFN)
Publisher	IEEE
Pages	53-58
Number of pages	6
ISBN (Electronic)	978-1-5386-4646-5
ISBN (Print)	978-1-5386-4647-2
DOIs	https://doi.org/10.1109/ICUFN.2018.8437000
Publication status	Published - 2018
Event	10th International Conference on Ubiquitous and Future Networks, ICUFN 2018 - Prague, Czech Republic Duration: 3 Jul 2018 → 6 Jul 2018

Conference

Conference	10th International Conference on Ubiquitous and Future Networks, ICUFN 2018
Country/Territory	Czech Republic
City	Prague
Period	3/07/18 → 6/07/18

Keywords

accelerometer
Coaxial helicopter
decoupling controller
force based decoupling
force measurement
six degrees of freedom model

Access to Document

10.1109/ICUFN.2018.8437000

Cite this

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title = "Active Decoupling Control for a Planetary Coaxial Helicopter Using Force Feedback",

abstract = "Drones developed for interplanetary space missions require full autonomy of operations including safe landing and hovering due to the delay in communication. For operation in low atmospheric densities, coaxial helicopters are best suited and they are capable of handling manoeuvres due to their small footprints and ease of operation. However, the dynamics of the helicopter is coupled in lateral axes which need to be compensated for precise control. The present solutions include vision-based tracking in order to decouple the dynamics, which needs additional hardware. In this paper, a decoupling controller is presented that employs an accelerometer-based force feedback system for measuring the undesired forces in off-axis which does not need any additional hardware. The simulation results indicate that the force feedback methodology is very effective in controlling the off-axis drift of the coaxial helicopter.",

keywords = "accelerometer, Coaxial helicopter, decoupling controller, force based decoupling, force measurement, six degrees of freedom model",

author = "Brijith Balakrishnan and Shamrao and R. Aditya and {Narendra Nath}, S. and Sujay Narayana and {Venkatesha Prasad}, R.",

year = "2018",

doi = "10.1109/ICUFN.2018.8437000",

language = "English",

isbn = "978-1-5386-4647-2 ",

pages = "53--58",

booktitle = "2018 Tenth International Conference on Ubiquitous and Future Networks (ICUFN)",

publisher = "IEEE",

address = "United States",

note = "10th International Conference on Ubiquitous and Future Networks, ICUFN 2018 ; Conference date: 03-07-2018 Through 06-07-2018",

}

Balakrishnan, B, Shamrao, Aditya, R, Narendra Nath, S, Narayana, S & Venkatesha Prasad, R 2018, Active Decoupling Control for a Planetary Coaxial Helicopter Using Force Feedback. in 2018 Tenth International Conference on Ubiquitous and Future Networks (ICUFN) . IEEE, pp. 53-58, 10th International Conference on Ubiquitous and Future Networks, ICUFN 2018, Prague, Czech Republic, 3/07/18. https://doi.org/10.1109/ICUFN.2018.8437000

TY - GEN

T1 - Active Decoupling Control for a Planetary Coaxial Helicopter Using Force Feedback

AU - Balakrishnan, Brijith

AU - Shamrao, null

AU - Aditya, R.

AU - Narendra Nath, S.

AU - Narayana, Sujay

AU - Venkatesha Prasad, R.

PY - 2018

Y1 - 2018

N2 - Drones developed for interplanetary space missions require full autonomy of operations including safe landing and hovering due to the delay in communication. For operation in low atmospheric densities, coaxial helicopters are best suited and they are capable of handling manoeuvres due to their small footprints and ease of operation. However, the dynamics of the helicopter is coupled in lateral axes which need to be compensated for precise control. The present solutions include vision-based tracking in order to decouple the dynamics, which needs additional hardware. In this paper, a decoupling controller is presented that employs an accelerometer-based force feedback system for measuring the undesired forces in off-axis which does not need any additional hardware. The simulation results indicate that the force feedback methodology is very effective in controlling the off-axis drift of the coaxial helicopter.

AB - Drones developed for interplanetary space missions require full autonomy of operations including safe landing and hovering due to the delay in communication. For operation in low atmospheric densities, coaxial helicopters are best suited and they are capable of handling manoeuvres due to their small footprints and ease of operation. However, the dynamics of the helicopter is coupled in lateral axes which need to be compensated for precise control. The present solutions include vision-based tracking in order to decouple the dynamics, which needs additional hardware. In this paper, a decoupling controller is presented that employs an accelerometer-based force feedback system for measuring the undesired forces in off-axis which does not need any additional hardware. The simulation results indicate that the force feedback methodology is very effective in controlling the off-axis drift of the coaxial helicopter.

KW - accelerometer

KW - Coaxial helicopter

KW - decoupling controller

KW - force based decoupling

KW - force measurement

KW - six degrees of freedom model

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U2 - 10.1109/ICUFN.2018.8437000

DO - 10.1109/ICUFN.2018.8437000

M3 - Conference contribution

AN - SCOPUS:85052489496

SN - 978-1-5386-4647-2

SP - 53

EP - 58

BT - 2018 Tenth International Conference on Ubiquitous and Future Networks (ICUFN)

PB - IEEE

T2 - 10th International Conference on Ubiquitous and Future Networks, ICUFN 2018

Y2 - 3 July 2018 through 6 July 2018

ER -

Active Decoupling Control for a Planetary Coaxial Helicopter Using Force Feedback

Abstract

Conference

Keywords

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