546 単独測位GPSを用いたホストコンピュータによるRCヘリコプターのホバリング制御(交通機器・輸送用機器の制御)(OS.08 : 先端的・萌芽的制御技術とその応用)

概要

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In this paper, we propose the model based control system design for autonomous flight and guidance control of Radio-Controlled Helicopter. RC Helicoper has been studied with fuzzy and neural network theories, but it is so difficult for unmodel based control to stabilize it. So we apply system identification techniques and model tuning approach for RC helicopter system to obtain the mathmetical model. In order to realize the full automatic controlled RC helicopter,we have designed the attitude controller and height controller with LQG based Kalman filter and trajectory controller with SMC (Sliding Mode Control) for RC helicopter. It has been clarified that the proposed scheme for attitude control, height control ,hovering control and guidence control are very useful by way of the simulations and experiments
社団法人日本機械学会の論文
2001-08-03