TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2002 · 27 citations · 0 references
EngineeringAerospace EngineeringAutonomous SystemsFlight DynamicsFlight MechanicsUnmanned Aircraft SystemsAircraft ControlAttitude ControlControl System DesignControl SystemsControl TheoryController DesignAttitude Control SystemsAutomatic Flight ControlAutonomous Flight ControlFlightFuzzy Control SystemsGuidanceHovering FlightSliding Mode Control
This paper proposes the model based control system design for autonomous flight and guidance control of Radio-Controlled Helicopter. RC Helicoper has been studied with fuzzy and neural network approach, but it is so difficult for unmodel based control to stabilize it. The system identification techniques and model tuning approach are applied for RC helicopter system to obtain the mathmetical model. In order to realize the full automatic controlled RC helicopter, we have designed the attitude controller and altitude controller with LQG based Kalman filter and trajectory controller with SMC (Sliding Mode Control) for RC helicopter. It has been clarified that the proposed scheme for attitude control, altitude control and hovering control are very useful by way of the simulations and experiments.