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Model-based optimal attitude and positioning control of small-scale unmanned helicopter

Published online by Cambridge University Press:  12 January 2005

Jinok Shin ,
Kenzo Nonami ,
Daigo Fujiwara  and
Kensaku Hazawa
Jinok Shin
Affiliation:
Dept. of Electronics and Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522 (Japan)
Kenzo Nonami
Affiliation:
Dept. of Electronics and Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522 (Japan)
Daigo Fujiwara
Affiliation:
Dept. of Electronics and Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522 (Japan)
Kensaku Hazawa
Affiliation:
Dept. of Electronics and Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522 (Japan)
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Abstract

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In this paper, we propose a model-based control system design for autonomous flight and guidance control of a small-scale unmanned helicopter. Small-scale unmanned helicopters have been studied by way of fuzzy and neural network theory, but control that is not based on a model fails to yield good stabilization performance. For this reason, we design a mathematical model and a model-based controller for a small-scale unmanned helicopter system. In order to realize a fully autonomous small-scale unmanned helicopter, we have designed a MIMO attitude controller and a trajectory controller equipped with a Kalman filter-based LQI for a small-scale unmanned helicopter. The design of the trajectory controller takes into consideration the characteristics of attitude closed-loop dynamics. Simulations and experiments have shown that the proposed scheme for attitude control and position control is very useful.

Keywords

Small-scale unmanned helicopterModel-based MIMO controlAttitude controlPosition controlAero robot
Type
Research Article
Information
Robotica , Volume 23 , Issue 1 , January 2005 , pp. 51 - 63
Copyright
2005 Cambridge University Press