In this paper, the authors propose a model-based control system design for autonomous flight and guidance control of a small-scale unmanned helicopter. Small-scale unmanned helicopters have been studied by way of fuzzy and neural network theory, but control that is not based on a model fails to yield good stabilization performance. For this reason, the authors design a mathematical model and a model-based controller for a small-scale unmanned helicopter system. In order to realize a fully autonomous small-scale unmanned helicopter, the authors have designed a MIMO attitude controller and a trajectory controller equipped with a Kalman filter-based LQI for a small-scale unmanned helicopter. The design of the trajectory controller takes into consideration the characteristics of attitude closed-loop dynamics. Simulations and experiments have shown that the proposed scheme for attitude control and position control is very useful.


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    Titel :

    Model-based optimal attitude and positioning control of small-scale unmanned helicopter


    Weitere Titelangaben:

    Modellbasierte Fluglageregelung und Bahnsteuerung eines unbemannten Miniaturhubschraubers


    Beteiligte:
    Shin, Jinok (Autor:in) / Nonami, Kenzo (Autor:in) / Fujiwara, Daigo (Autor:in) / Hazawa, Kensaku (Autor:in)

    Erschienen in:

    Robotica ; 23 , 1 ; 51-63


    Erscheinungsdatum :

    2005


    Format / Umfang :

    13 Seiten, 7 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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