ラジコンヘリコプタの姿勢制御・ホバリング制御

• 辛 振玉

• 藤原 大悟

• 羽沢 健作

• 野波 健蔵

書誌事項

タイトル別名

• Attitude Control and Hovering Control of Radio-Controlled Helicopter.
• ラジコンヘリコプタ ノ シセイ セイギョ ホバリング セイギョ

抄録

This paper proposes 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 approach, but it is so difficult for unmodel based control to stabilize it. The system identification techniques and model tuning approach are applied for RC helicopter system to obtain the mathmetical model. In order to realize the full automatic controlled RC helicopter, we have designed the attitude controller and altitude 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, altitude control and hovering control are very useful by way of the simulations and experiments.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 68 (675), 3284-3291, 2002

  一般社団法人 日本機械学会

キーワード

• Attitude Control
• Altitude Control
• Hovering Control
• Radio-Controlled Helicopter
• LQG Control
• Sliding Mode Control
• Model Based Control

詳細情報

• CRID: 1390001206358179584
• NII論文ID: 110002378754
• NII論文ID: 130004234541
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.68.3284
• ISSN: 18848354
• ISSN: 03875024
• ISSN: http://id.crossref.org/issn/03875024
• ISSN: http://id.crossref.org/issn/03875016
• NDL書誌ID: 6366059
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6366059
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/68/675/68_675_3284/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可