Formation control of a rotorcraft multi-lift system

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

1 Scopus citations


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.

Original languageEnglish (US)
Title of host publication41st European Rotorcraft Forum 2015, ERF 2015
PublisherDeutsche Gesellschaft fuer Luft und Raumfahrt (DGLR)
Number of pages20
ISBN (Electronic)9781510819832
StatePublished - 2015
Event41st European Rotorcraft Forum 2015, ERF 2015 - Munich, Germany
Duration: Sep 1 2015Sep 4 2015

Publication series

Name41st European Rotorcraft Forum 2015, ERF 2015


Other41st European Rotorcraft Forum 2015, ERF 2015

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Instrumentation


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