抄録
This paper considers decoupling control of a model helicopter with 3 degrees of freedom. Since its position control system is not decouplable via static-state feedback, we try to apply dynamic-state feedback. In most practical cases, however, the model parameter cannot be measured accurately due to a difficulty of system parameter identification. Here, the online parameter estimation technique is introduced in the derived control loops. In this paper, a decoupling control method with the online parameter estimation technique is proposed under the presence of the parameter uncertainties and applied to an experimental system. The experimental results show the effectiveness of the proposed algorithm.
