超小型屋内外用シングルロータヘリコプタの自律制御

佐藤 悠介; 王 競偉; 太田 雅人; 野波 健蔵

doi:10.11511/jacc.53.0.50.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 172

DOI https://doi.org/10.11511/jacc.53.0.50.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Autonomous Control of Micro Aerial Vehicle and Unmanned Ground Vehicle 2

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

*Yusuke SATO, Jingwei WANG, Masato OTA, Kenzo NONAMI

Author information

Keywords: Small-Scale Unmanned Helicopter, Autonomous Control, Indoor and Outdoor

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

The small unmanned helicopter has excellent flight characteristics like the 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, the model of SRB Quark SG is derived by analytical method. Thirdly, the attitude controller is designed by LQI. Finally, Simulation results show the effectiveness of the attitude controller.

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