Construction of navigation and control systems of a large-scale unmanned helicopter based on identified model

Seiji Hashimoto, Shuichi Adachi, Yasunobu Segawa, Gou Miyamori, Takeshi Akasaka, Anzhong Tan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, first, system identification experiments for a large-scale unmanned helicopter are carried out to obtain a mathematical model of aircraft dynamics. The attitude error of the helicopter is compensated by a stability augmentation system (SAS) that permits the experiments during the flight. System identification results are shown on the dynamics by using the measured input and output data. Next, GPS (Global Positioning System) and INS (Inertial Navigation System) hybrid navigation system which obtains a present aircraft's information is discussed. Moreover, the robust position control system based on the identified mathematical model of aircraft is constructed. Finally, the position control experiments suggest that the proposed modeling and design approach is effective enough for practical applications.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
PublisherIFAC Secretariat
Pages463-468
Number of pages6
Volume15
Edition1
Publication statusPublished - 2002
Externally publishedYes
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: 2002 Jul 212002 Jul 26

Other

Other15th World Congress of the International Federation of Automatic Control, 2002
CountrySpain
CityBarcelona
Period02/7/2102/7/26

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Keywords

  • Autonomous control
  • Helicopter control
  • Navigation systems
  • Robust control
  • System identification

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Hashimoto, S., Adachi, S., Segawa, Y., Miyamori, G., Akasaka, T., & Tan, A. (2002). Construction of navigation and control systems of a large-scale unmanned helicopter based on identified model. In IFAC Proceedings Volumes (IFAC-PapersOnline) (1 ed., Vol. 15, pp. 463-468). IFAC Secretariat.