1A2-F07 Development of a HILS System for Flying Robot Control and Its Application to Control System Design(Aerial Robot and Mechatronics (2))

Abstract

This paper presents development of a HILS (Hardware in the Loop Simulation) system for flying robot (a powered paraglider (PPG)) control and its application to control system design. The HILS system consists of three dimensional six degree of freedom model, aerodynamic model, sensor/actuator model, etc., of the PPG in the computer and the control unit including sensors, i.e., a global positioning system (GPS), a three-axis gyroscope, a geomagnetism sensor and a CCD camera. Controllers for altitude and direction are designed and tested on the HILS environment. The HILS result demonstrates the viability of the altitude and direction control.