344 ラジコンヘリコプターの姿勢安定化・誘導制御(アドバンスト制御理論応用IV)(OS アドバンスト制御理論応用)

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 theory, but it is so difficult for unmodel based control to stabilize it. So we apply system identification and model tuning approach for RChelicopter system to obtain the mathmetical model. In order to realize the full automatic controlled RC helicopter, we have designed the attitude 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 and guidence control is very useful by way of the simulations and experiments.
社団法人日本機械学会の論文
2001-04-20