Analytical Modeling and Autonomous Hovering Control of Hobby Class 5kg Unmanned Helicopter

Autor:	Satoshi Suzuki, Daisuke Nakazawa, Yoshiro Koide, Kenzo Nonami, Makoto Tawara, Jinok Shin
Rok vydání:	2007
Předmět:	Engineering Scale (ratio) business.industry Mechanical Engineering Control (management) System identification Control engineering Kalman filter Industrial and Manufacturing Engineering Mechanics of Materials Control theory Position (vector) Control system White box business
Zdroj:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C. 73:562-569
ISSN:	1884-8354 0387-5024
Popis:	In this paper, we propose the autonomous hovering control of hobby class small scale unmanned helicopter by using model based control method. Firstly, we make the model of small-scale unmanned helicopter analytically. In many researches, modeling of small-scale unmanned helicopter has been carried out with the system identification method, because some model parameters have never been derived analytically. But, the model with system identification method is not for general purpose. For this reason, we use the white box modeling method which is analytical modeling. Secondly, we designed control system with kalman filter based LQI control method. Control system consists of the attitude controller and the velocity controller and position controller. And we connect these three controllers to series. Finally, the hovering control experiment is carried out, and experiment result shows that analytic modeling method and model based control design are very useful for autonomous control for small scale unmanned helicopter.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::ce5daa8f0766a783d90a6c7255b9cf0e https://doi.org/10.1299/kikaic.73.562 Zobrazit plný text záznamu