ホビー用小形無人ヘリコプタの自律制御

実験的同定に基づくモデリングと自律制御実験

抄録

We developed a small autonomous hobby-class unmanned helicopter that weighs about 9 kg, focusing on attitude and velocity models and controller design. Singe Input Single Output (SISO) transfer function models are derived from brief kinematical analysis and system identification for each of the helicopter dynamics of pitch, roll, yaw, and three direction velocities. We designed six separate controllers based on derived models using LQG and LQI control theory. The models and control structure are verified by experimental results. Accurate position control, namely, hover control and trajectory-following control, is achieved by a simple control algorithm using a designed attitude and velocity control structure. Robustness of the controller against wind was confirmed in a windy-day experiment. To verify robustness against the perturbation of physical helicopter parameters, the controller is applied to a larger helicopter.