The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2011
Session ID : 1A2-P04
Conference information
1A2-P04 Optimal Autonomous Control of Small-Scale Electrical Driven Helicopter with MIMO model(Aerial Robot and Mechatronics)
Masato OTAJingwei WANGYusuke SATOKenzo NONAMI
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Abstract
A small-scale unmanned helicopter has a potential of performing excellent flight characteristic such as hovering and moving sideways during flight. Hence, the possibilities of applying such helicopters in performing specific tasks is widely expected and being the focus of research. We introduce in this paper, the autonomous control of small-scale electrical driven helicopter. A control system which is based on LQI control method was designed and implemented. The control system consists of the MIMO(Multi-Input Multi-output) controller. The designed altitude controller implements the MIMO controller in its inner loop. Simulation results showed the effectiveness of our controller.
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© 2011 The Japan Society of Mechanical Engineers
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