@inproceedings{f2ccd4975ef540f08ffd1b017ac40442,
title = "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.",
author = "Jacob Enciu and Horn, {Joseph F.} and Langelaan, {Jack W.}",
year = "2015",
language = "English (US)",
series = "41st European Rotorcraft Forum 2015, ERF 2015",
publisher = "Deutsche Gesellschaft fuer Luft und Raumfahrt (DGLR)",
pages = "980--999",
booktitle = "41st European Rotorcraft Forum 2015, ERF 2015",
note = "41st European Rotorcraft Forum 2015, ERF 2015 ; Conference date: 01-09-2015 Through 04-09-2015",
}