H∞ hovering and guidance control for autonomous small-scale unmanned helicopter

被引：0

作者：

Fujiwara, Daigo ^{[1
]}

Shin, Jinok ^{[1
]}

Hazawa, Kensaku ^{[1
]}

Nonami, Kenzo ^{[1
]}

机构：

[1] Grad. Sch. of Science and Technology, Chiba University, Inage-ku, Chiba-shi, Chiba, 263-8522

来源：

Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 2004年 / 70卷 / 06期

关键词：

Autonomous Flight Control; Guidance Control; H[!sub]∞[!/sub] Control; Hobby-Class Small-Scale Unmanned Helicopter; Hovering Control; Robust Control; UAV;

D O I：

10.1299/kikaic.70.1708

中图分类号：

学科分类号：

摘要：

This paper describes hovering and horizontal guidance control with H ∞ controller and performance verification through flight experiments for the hobby-class small-scale unmanned helicopter. Simple system identification method was applied to acquire single-input/single-output models. Cross-validation results have shown that those models were reflected in the actual dynamics very well. Attitude control has been constructed by proportional-integral feedback loop with derivative feed-forward compensator for improvement of reference following performance. H∞ control theory was applied for horizontal velocity control. Four closed-loop transfer functions were shaped according to the design specifications given in the frequency domain. Also, horizontal position control has been designed as proportional-derivative feedback. In the flight experiment, good performance of hovering and reference following has been shown through 15 m square point-to-point traveling guidance control, and this also showed high accuracy of the models.

引用

页码：1708 / 1714

页数：6

共 8 条

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