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.
Model-based optimal attitude and positioning control of small-scale unmanned helicopter
Modellbasierte Fluglageregelung und Bahnsteuerung eines unbemannten Miniaturhubschraubers
Robotica ; 23 , 1 ; 51-63
2005
13 Seiten, 7 Quellen
Article (Journal)
English
Attitude control of a small-scale helicopter based on backstepping
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