著者

蛯原 義雄 奥 宏史 片山 仁志 坂本 登 津村 幸治 平田 光男 西村 悠樹 澤田 賢治

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.60, no.5, pp.385-394, 2021-05-10 (Released:2021-05-21)

参考文献数

10

著者

松葉 一孝 牛田 俊 奥 宏史

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.78, no.792, pp.2797-2807, 2012 (Released:2012-08-25)

参考文献数

26

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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.