1A2-P03 屋内外用超小型シングルロータヘリコプタの自律制御(飛行ロボット・メカトロニクス)

概要

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The small unmanned helicopter has excellent flight characteristics like hovering flight and vertical takeoff and landing. So, it is expected that the helicopter will be used for various missions. In this paper, we introduce about the autonomous control of Ultra small-scale unmanned helicopter named SRB Quark SG. Firstly, we designed the control device and the control system. Secondly, we described the attitude model of SRB Quark SG which is derived by black box modeling used Multi Input Multi Output(MIMO) mathematical model and the attitude controller which is designed by LQI control method. Furthermore, we show the validity of the attitude controller by the simulation. Finally, we show flight experiment result.
一般社団法人日本機械学会の論文
2011-05-26