1A2-P04 Optimal Autonomous Control of Small-Scale Electrical Driven Helicopter with MIMO model(Aerial Robot and Mechatronics)

摘要

A small-scale unmanned helicopter has a potential of performing excellent flight characteristic such as hovering and moving sideways during flight. Hence, the possibilities of applying such helicopters in performing specific tasks is widely expected and being the focus of research. We introduce in this paper, the autonomous control of small-scale electrical driven helicopter. A control system which is based on LQI control method was designed and implemented. The control system consists of the MIMO(Multi-Input Multi-output) controller. The designed altitude controller implements the MIMO controller in its inner loop. Simulation results showed the effectiveness of our controller.