抄録
The aim of this study is to shorten the time required controller design for multi-rotor helicopter and make a stable control system for changing dynamics of it. Our research group has been studying the autonomous control of multi-rotor helicopter, and it was successfully demonstrated in outdoor experiments. The control system design is based on optimal control theory using gray-box modeling, and it requires much time and effort of modeling and control. In addition, changing helicopter's dynamics leads to deterioration of the control performance. In this study, we applied adaptive control method to solve the problems that have been presented. It was found from experimental result that adaptive control is effective for altitude control of multi-rotor helicopter. Moreover, it made a success to shorten the time required controller design. In this paper, we present its adaptive control system, simulation results, and experimental results.
