Guidance for slung load operations through Differential Dynamic Programming

Gerardo De La Torre, Eric N. Johnson, Evangelos Theodorou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this paper we present a differential dynamic programming based guidance framework for slung load operations and demonstrate it through simulation studies and a preliminary flight test. Specifically, an optimal control problem is solved with the Differential Dynamic Programming (DDP) algorithm. The resulting optimal vehicle trajectory is used in the vehicle's existing guidance, navigation and control architecture. Furthermore, the state of the slung load is estimated via an augmentation to the existing navigation system that utilizes only vision-based measurements of the load. Therefore, minimal hardware and software changes are needed to an existing system in order to implement the proposed framework. The simulation studies and the preliminary flight test prove that the DDP algorithm can be solved iteratively on-line and is a feasible approach for the control of slung load systems.

Original languageEnglish (US)
Title of host publication70th American Helicopter Society International Annual Forum 2014
PublisherAmerican Helicopter Society
Pages3111-3121
Number of pages11
ISBN (Print)9781632666918
StatePublished - 2014
Event70th American Helicopter Society International Annual Forum 2014 - Montreal, QC, Canada
Duration: May 20 2014May 22 2014

Publication series

NameAnnual Forum Proceedings - AHS International
Volume4
ISSN (Print)1552-2938

Other

Other70th American Helicopter Society International Annual Forum 2014
CountryCanada
CityMontreal, QC
Period5/20/145/22/14

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • Cite this

    De La Torre, G., Johnson, E. N., & Theodorou, E. (2014). Guidance for slung load operations through Differential Dynamic Programming. In 70th American Helicopter Society International Annual Forum 2014 (pp. 3111-3121). (Annual Forum Proceedings - AHS International; Vol. 4). American Helicopter Society.