121 小型無人ヘリコプタのモデルベース多入力多出力姿勢制御・ホバリング制御

• 辛 振玉

  千葉大院

• 藤原 大悟

  千葉大院

• 羽沢 健作

  千葉大院

• 五十嵐 一弘

  千葉大院

• FERNANDO Dilshan

  千葉大院

• 野波 健蔵

  千葉大院

書誌事項

タイトル別名

• 121 Model-based Attitude and Hovering Control of Small Unmanned Helicopter

抄録

In this paper, we propose the model based control system design for autonomous flight and guidance control of a small unmanned helicopter. A small unmanned helicopter has been studied with fuzzy and neural network theory, but it is very difficult for unmodel based control to stabilize it. For this reason, we design a mathmetical model (Mettler's model) and a model based controller for a small unmanned helicopter system. In order to realize a full automatic controlled small unmanned helicopter, we have designed the attitude controller and trajectory controller with kalman filter based LQI for a small unmanned helicopter. The characteristic of the attitude closed loop dynamics is taken into consideration to design a trajectory controller. By way of the simulations and experiments, it has been clarified that the proposed scheme for attitude control and guidence control is very useful.

収録刊行物

• Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D

  Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D 2003 (0), 29-, 2003-09-15

  一般社団法人日本機械学会

キーワード

• Small Unmanned Helicopter
• Flight Control
• Attitude Control
• Guidance Control
• Kalman Filter
• MIMO Attitude Control
• Model Based Control

詳細情報

• CRID: 1570009752261000832
• NII論文ID: 110002483129
• NII書誌ID: AA11901770
• ISSN: 13480235
• 本文言語コード: en
• データソース種別:
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