No abstract

Abstract-This paper describes a dynamic controller for rotorcraft landing and hovering in ground effect using feedback control based on flowfield estimation. The rotor downwash in ground effect is represented using a potential flow model selected for real-time use. A nonlinear dynamic model of the rotorcraft in ground effect is presented with open-loop analysis and closedloop control simulation. Flowfield velocity measurements are assimilated into a grid-based recursive Bayesian filter to estimate height above ground. Height tracking in ground effect and landing are implemented with a dynamic linear controller. The overall framework is applicable for rotorcraft operation in ground effect and landing.

No abstract

No abstract