We describe a dynamic height controller for rotorcraft hovering and landing in ground effect based on flow field sensing and estimation. The rotor downwash in ground effect is represented using a ring-source potential-flow model selected for real-time use and validated experimentally.
A nonlinear dynamic model of the heave test stand that represents the dynamics of a rotorcraft in ground effect is presented. Flow field pressure measurements are compared with flow-model predictions in a grid-based recursive Bayesian filter to estimate height above ground. Height control
in ground effect using the estimated height is implemented with a dynamic linear controller. The experimental results show that height estimation and control are possible for a miniature autonomous rotorcraft by comparing two sets of differential pressure measurements in the rotor downwash
with a low-order aerodynamic model in a Bayesian filter.
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Document Type: Research Article
October 1, 2016
This article was made available online on September 8, 2016 as a Fast Track article with title: "Height Estimation and Control of Rotorcraft in Ground Effect Using Spatially Distributed Pressure Sensing".
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