Research Output
Modelling and control of helicopter robotic landing gear for uneven ground conditions
  This paper proposes a method to investigate into helicopter landing on uneven terrain by means of using a scaled articulated robotic landing gear. A mathematical model of an articulated robotic landing gear that adapts to uneven ground conditions is considered. The model consists of a planar landing gear composed of two legs connected by a base and a skid at each end. Each skid has two degrees of freedom with PID joint controllers to provide stability while landing. A combination of Lagrange and Newton-Euler techniques is used to model the system dynamics. This work also includes a model of the ground interaction, a thrust controller and a level controller to maintain stability while landing. Experimental results with a laboratory-build scaled prototype are included and compared with the simulations.

  • Date:

    09 November 2017

  • Publication Status:


  • Publisher

    Institute of Electrical and Electronics Engineers

  • DOI:


  • Library of Congress:

    TJ Mechanical engineering and machinery

  • Dewey Decimal Classification:

    620 Engineering and allied operations

  • Funders:

    Edinburgh Napier Funded


Boix, D. M., Goh, K., & McWhinnie, J. (2017). Modelling and control of helicopter robotic landing gear for uneven ground conditions. In Proceedings of 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2017



PID control; robotic landing gear; nonlinear dynamic model; contact model; level controller; robot prototype

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