Model-based optimal attitude and positioning control of small-scale unmanned helicopter
| Autor: | Daigo Fujiwara, Jinok Shin, Kenzo Nonami, Kensaku Hazawa |
|---|---|
| Rok vydání: | 2005 |
| Předmět: |
Engineering
Scale (ratio) Artificial neural network business.industry General Mathematics MIMO ComputerApplications_COMPUTERSINOTHERSYSTEMS Control engineering Kalman filter Fuzzy logic Computer Science Applications Attitude control Control and Systems Engineering Control theory Trajectory ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS business Software |
| Zdroj: | Robotica. 23:51-63 |
| ISSN: | 1469-8668 0263-5747 |
| Popis: | In this paper, we 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, we 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, we 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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