Robust control design based on identified model for autonomous flight system of an unmanned helicopter

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

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Conventional unmanned helicopters are used to spray agricultural chemicals and take aerial photographs. In the near future, the aircrafts are expected to be used for a wide array of activities, such as rescuing and fire fighting. Then, an autonomous flight using several sensors typified by a global positioning system (GPS) is highly expected. In this paper, first, system identification experiments for a large-scale unmanned helicopter are carried out to obtain a numerical model of aircraft dynamics. The attitude error of the helicopter is compensated by a stability augmentation system that permits the experiments during the flight. System identification results are shown on the dynamics using the measured input and output data. Next, the position control systems based on the H control theory is constructed by using the identified model. Finally, the position control experiments suggest that the proposed modeling and design approach is effective enough for practical applications.

Original languageEnglish
Pages323-328
Number of pages6
Publication statusPublished - 2001 Dec 1
Externally publishedYes
Event27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States
Duration: 2001 Nov 292001 Dec 2

Other

Other27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
CountryUnited States
CityDenver, CO
Period01/11/2901/12/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Robust control design based on identified model for autonomous flight system of an unmanned helicopter'. Together they form a unique fingerprint.

  • Cite this

    Hashimoto, S., Adachi, S., Segawa, Y., Miyamori, G., & Tan, A. (2001). Robust control design based on identified model for autonomous flight system of an unmanned helicopter. 323-328. Paper presented at 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001, Denver, CO, United States.