マルチロータヘリコプタの適応PID型角速度制御

抄録

In this paper, angular rate feedback control of multi-rotor helicpter is designed by using adaptive PID method. Adaptive PID controller with parallel feedforward conpensator : PFC is designed based on mathematical model of the helicopter. The effectiveness of the proposed control system is verified by numerical simulation and experiment. The results of the experiment with jig, and free flight experiment shows the efficiency of proposed adaptive angular rate controller.