抄録
In this paper, we propose an 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 analythically.Secondly, we designed control system with kalman filter based LQI control method. The control system consists of the attitude controller and the velocity controller. And we connect these two 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.
