Creating of control systems for dynamically complicated objects on the basis of using of adaptive algorithms with a "model"

The authors propose the new principle solution of task on the automatic installation of loads during the assembly work with the help of helicopter. We develop an original method and a special device, called the universal platform, that is fixed directly to a load and operates in conjunction with the...

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Bibliographic Details
Published in:	SMC'98 Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.98CH36218) Vol. 5; pp. 4382 - 4386 vol.5
Main Authors:	Arumov, G.P., Frolov, V.A., Sidorov, I.M., Veselova, G.V., Bogomolov, V.P., Myllyla, R.A.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 1998
Subjects:	Accelerometers Adaptive algorithm Adaptive control Assembly Automatic control Control systems Helicopters Programmable control Reservoirs Valves
Online Access:	Get full text
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Summary:	The authors propose the new principle solution of task on the automatic installation of loads during the assembly work with the help of helicopter. We develop an original method and a special device, called the universal platform, that is fixed directly to a load and operates in conjunction with the helicopter. The platform on-board computer uses a specially developed model-based adaptive control algorithm. This algorithm can provide a completely automatic correction of the load and helicopter motion, in order to realize a smooth, highly accurate matching of the assembly points of the load and the support. A description of platform's construction and the main principles of its operation are given. It is shown that the platform with corresponding control algorithm is a universal device and can operate both on Earth and in space with any kind of lifting mechanism.
ISBN:	9780780347786 0780347781
ISSN:	1062-922X 2577-1655
DOI:	10.1109/ICSMC.1998.727538