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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルIFAC Proceedings Volumes (IFAC-PapersOnline)
編集者Gabriel Ferrate, Eduardo F. Camacho, Luis Basanez, Juan. A. de la Puente
出版社IFAC Secretariat
ページ463-468
ページ数6
1
ISBN(印刷版)9783902661746
DOI
出版ステータスPublished - 2002
外部発表はい
イベント15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
継続期間: 2002 7 212002 7 26

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号1
15
ISSN(印刷版)1474-6670

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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