Analytical modeling and autonomous hovering control of hobby class 5 kg unmanned helicopter

In this paper, we propose the autonomous hovering control of hobby class small scale unmanned helicopter by using model based control method. Firstly, we make the model of small-scale un-manned helicopter analytically. In many researches, modeling of small-scale unmanned helicopter has been carried out with the system identification method, because some model parameters have never been derived anallytically. But, the model with system identification method is not for general purpose. For this reason, we use the white box modeling method which is analytical modeling. Secondly, we designed control system with kalman filter based LQI control method. Control system consists of the attitude controller and the velocity controller and position controller. And we connect these three controllers to series. Finally, the hovering control experiment is carried out, and experiment result shows that analytic modeling method and model based control design are very useful for autonomous control for small scale unmanned helicopter.