著者

鈴木 智 野波 健蔵 酒井 悟

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.72, no.721, pp.2795-2802, 2006-09-25

被引用文献数

2

---

In this paper, we design a trajectory following controller by using model following based sliding mode control for small-scale unmanned helicopter. Firstly, we derive reference model that shows an ideal response. This reference model follows continuous trajectory like a circular trajectory without delay. Secondly, we design the model following based sliding mode controller that makes the response of real system follow the response of reference model. Lastly, we show the validity of the controller by the simulation and experiment.