### 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.

元の言語 | English |
---|---|

ホスト出版物のタイトル | IFAC Proceedings Volumes (IFAC-PapersOnline) |

出版者 | IFAC Secretariat |

ページ | 463-468 |

ページ数 | 6 |

巻 | 15 |

エディション | 1 |

出版物ステータス | Published - 2002 |

外部発表 | Yes |

イベント | 15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain 継続期間: 2002 7 21 → 2002 7 26 |

### Other

Other | 15th World Congress of the International Federation of Automatic Control, 2002 |
---|---|

国 | Spain |

市 | Barcelona |

期間 | 02/7/21 → 02/7/26 |

### Fingerprint

### ASJC Scopus subject areas

- Control and Systems Engineering

### これを引用

*IFAC Proceedings Volumes (IFAC-PapersOnline)*(1 版, 巻 15, pp. 463-468). IFAC Secretariat.

**Construction of navigation and control systems of a large-scale unmanned helicopter based on identified model.** / Hashimoto, Seiji; Adachi, Shuichi; Segawa, Yasunobu; Miyamori, Gou; Akasaka, Takeshi; Tan, Anzhong.

研究成果: Conference contribution

*IFAC Proceedings Volumes (IFAC-PapersOnline).*1 Edn, 巻. 15, IFAC Secretariat, pp. 463-468, 15th World Congress of the International Federation of Automatic Control, 2002, Barcelona, Spain, 02/7/21.

}

TY - GEN

T1 - Construction of navigation and control systems of a large-scale unmanned helicopter based on identified model

AU - Hashimoto, Seiji

AU - Adachi, Shuichi

AU - Segawa, Yasunobu

AU - Miyamori, Gou

AU - Akasaka, Takeshi

AU - Tan, Anzhong

PY - 2002

Y1 - 2002

N2 - 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.

AB - 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.

KW - Autonomous control

KW - Helicopter control

KW - Navigation systems

KW - Robust control

KW - System identification

UR - http://www.scopus.com/inward/record.url?scp=84945556641&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84945556641&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84945556641

VL - 15

SP - 463

EP - 468

BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

PB - IFAC Secretariat

ER -