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- SHIN Jinok
- Chiba University
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- FUJIWARA Daigo
- Chiba University
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- HAZAWA Kensaku
- Chiba University
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- NONAMI Kenzo
- Chiba University
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- FERNANDO Dilshan
- Chiba University
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- IGARASHI Kazuhiro
- Chiba University
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
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- Dynamics & Design Conference
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Dynamics & Design Conference 2003 (0), _121-1_-_121-6_, 2003
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390001205887646336
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- NII論文ID
- 110006656762
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- ISSN
- 24242993
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可