ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-P04
会議情報
1A2-P04 MIMOモデルによる小型電動ヘリコプタの最適自律制御(飛行ロボット・メカトロニクス)
太田 雅人王 競偉佐藤 悠介野波 健蔵
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会議録・要旨集 フリー

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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 一般社団法人 日本機械学会
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