Formation control of a rotorcraft multi-lift system

Abstract

The formation dynamics and control of a four rotorcraft multi-lift system is presented. The uncontrolled system is shown to be inherently unstable and dynamically complex. A dynamic inversion controller is developed, and modified from a controller developed in previous work. The modified controller eliminates the need for sling cable forces feedback, enforces safe separation in the formation, and includes rotorcraft/load heading coordination functions. Simulations of the controlled system show that the multi-lift system can be successfully controlled by a single pilot. Simulation results suggest that optimization of formation geometry can provide improved system efficiency and handling qualities.