122 自律型小型無人ヘリコプターの高度制御と自動離着陸制御

概要

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In this paper, we propose the model based height control and a method of automatic controlled taking-off and landing for autonomous small unmanned helicopter. Our research group realized autonomous attitude, position, height and hovering control. But, when helicopter makes a take-off and landing, we operate by manual control. In order to realize the full automatic controlled small unmanned helicopter, we have to realize automatic controlled taking-off and landing. Height controller require high performance to attain the purpose, so we apply LQI controller and model tuning approach for small helicopter system by using simple mathematical model. Besides we design new attitude controller to make a taking-off and landig in safety. We apply the new height and attitude controller for small unmanned helicopter, and inspect that they can realize automatic take-off and landing.
社団法人日本機械学会の論文
2003-10-30