103 自律飛行を目的とした大型無人ヘリコプタのロバスト制御実験(ロバスト制御理論応用I)(OS ロバスト制御理論応用)

概要

論文の詳細を見る
Unmanned helicopters are used lately to spray agricultural chemicals or take aerial photographs. In near future, it is expected that the aircraft will be used for a wide range of activities, such as observation and rescuing. An autonomous flight using several sensors is indispensable for such activities. In this paper, system identification experiments have been carried out for large-scale unmanned helicopter in order to obtain a numerical model of aircraft dynamics. First, system identification results are shown on the dynamics using the input and output data. Second, we show the constructed position control systems based on the H_∞ control theory. Finally, the effectiveness of these control systems is evaluated through position control experiments.
社団法人日本機械学会の論文
2001-04-20