218 小型無人ヘリコプタによるオートローテーション制御(移動体の制御,OS-1 先端的・萌芽的制御技術とその応用)

概要

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In this paper, we propose a method of autonomous autorotation landing control by small unmanned helicopter. Autorotation is a flight method of getting energy from air and obtaining a thrust by falling, and if this is automatable, when abnormalities occur in engine, it will become possible to land safely. As a summary, we identify the linear model from experimental data and blade elemental theory, and apply optimal tracking control to the model. And we verified the validity of the method by performing experiment and simulation.
社団法人日本機械学会の論文
2004-09-27