著者

Byeongil KIM Yushin CHANG Man Hyung LEE

出版者

The Japan Society of Mechanical Engineers

雑誌

JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing (ISSN:13447653)

巻号頁・発行日

vol.49, no.4, pp.1048-1057, 2006 (Released:2007-06-15)

参考文献数

12

被引用文献数

17 26

---

For a maneuvering unmanned autonomous helicopter, it is necessary to design a proper controller for each flight mode. In this paper, the overall helicopter dynamics is derived and a hovering model is linearized and transformed into a state-space form. However, since it is difficult to obtain parameters for stability derivatives in the state-space directly, a linear control model is derived by a time-domain parametric system identification method with real flight data of a model helicopter. Then, two different controllers (a linear feedback controller with the proportional gain and a robust controller) are designed and their performances are compared. The simulation results show outstanding performance. The validated controllers can be utilized to enable autonomous flight of a RUAV (Rotorcraft-based Unmanned Aerial Vehicle).