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A small-scale helicopter testbed has been constructed to study the dynamics and control of helicopters carrying suspended loads. This paper presents an overview of the testbed, a dynamic model of the helicopter-load system, and a procedure used to estimate the unknown model parameters. An example experiment demonstrates the testbed's usefulness: A pilot-like feedback controller was applied to the...
Many systems require a human in the control loop. When the controlled system has flexibility, the human can have significant difficulties operating the machine. Input-shaping improves control of the flexible element by reducing system vibration. However, it may have a negative effect on control of the driven base or vehicle. This paper presents a new type of input shaper that suppresses vibration...
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