121 小型無人ヘリコプタのモデルベース多入力多出力姿勢制御・ホバリング制御

概要

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In this paper, we propose the model based control system design for autonomous flight and guidance control of a small unmanned helicopter. A small unmanned helicopter has been studied with fuzzy and neural network theory, but it is very difficult for unmodel based control to stabilize it. For this reason, we design a mathmetical model (Mettler's model) and a model based controller for a small unmanned helicopter system. In order to realize a full automatic controlled small unmanned helicopter, we have designed the attitude controller and trajectory controller with kalman filter based LQI for a small unmanned helicopter. The characteristic of the attitude closed loop dynamics is taken into consideration to design a trajectory controller. By way of the simulations and experiments, it has been clarified that the proposed scheme for attitude control and guidence control is very useful.
社団法人日本機械学会の論文
2003-09-15