2012 Volume 78 Issue 792 Pages 2797-2807
This paper reports the experimental results of the dynamic modelling using MIMO closed-loop system identification, controller design and implementation for hovering flight of a radiocontrolled helicopter. The helicopter is set on our handcrafted supporting device, and it has the roll, side-to-side and up-and-down motions that controlled by the aileron and the throttle. Several dynamic models with defferent orders are derived from closed-loop system identification experiments with the MOESP-type closed-loop subspace model identification method (CL-MOESP). Then, we compared their model with the real system, and LQR with a full state observer is designed and implemented.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
Transactions of the Japan Society of Mechanical Engineers Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B