109 小型無人ヘリコプタの最適制御による高精度自律制御

概要

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This paper presents a development of an autonomous small unmanned helicopter for hobby-class which weigh about 9 kg focusing velocity models and controller design. The simple SISO transfer function models are derived from brief kinematical analysis for each horizontal helicopter dynamics. The independent two controllers are respectively designed based on the derived models by using LQI optimal control theories. The models and control structure are verified by showing successful experimental result. Accurate position control, namely, the hovering control and trajectory following control is achieved by simple control algorism using designed velocity control structure. Robustness of the controller against wind is tested an experiment done on windy day. To verify the robustness against perturbation of physical parameters of helicopter, designed controller is applied to bigger size helicopter. To achieve accurate trajectory following control, optimal preview controller is designed. Finally circular trajectory is drawn by the designed preview controller.
社団法人日本機械学会の論文
2003-09-15