A308 屋内外用超小型シングルロータヘリコプタの自律制御(OS3 自律知能無人ビークルの運動と制御5)

• 佐藤 悠介

  千葉大

• 太田 雅人

  千葉大

• 野波 健蔵

  千葉大

• 藤原 大悟

  千葉大

書誌事項

タイトル別名

• A308 Autonomous Control of Ultra Small-Scale Single Rotor Helicopter for Indoor and Outdoor

抄録

The small unmanned helicopter has excellent flight characteristics like hovering flight and vertical take-off 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.

収録刊行物

• 「運動と振動の制御」シンポジウム講演論文集

  「運動と振動の制御」シンポジウム講演論文集 2011.12 (0), 474-477, 2011

  一般社団法人 日本機械学会

キーワード

• Small-Scale Unmanned Helicopter Autonomous Control
• Indoor and Outdoor

詳細情報

• CRID: 1390001205886507008
• NII論文ID: 110009619624
• DOI: 10.1299/jsmemovic.2011.12.474
• ISSN: 24243000
• Web Site: https://www.jstage.jst.go.jp/article/jsmemovic/2011.12/0/2011.12_474/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可