Abstract
Helicopter has a unique performance such as vertical ascent, decent and hovering. So, it is applied to large field because of that performance. On the other hand, there is a disadvantage that its structure is complex, and it is difficult to stabilize the posture under a windy environment. In the previous research, although we have considered the stabilization of the posture of underactuated flying object experimental device, the control result of the experimental device has been affected by the conducting wire of electrical supply and encoder. Therefore an experimental device is newly manufactured aiming to eliminate the influence of conducting wire by unwiring and wireless communication. And we have explored the control performance for new experimental device by switching the controller gain adaptively based on the predicted value of the posture of underactuated flying object.
