제어로봇시스템학회:학술대회논문집
- 1992.10b
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- Pages.344-348
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- 1992
Design of hovering flight controller for a model helicopter
- Shim, Hyeoncheol (Dept. of Mechanical Design and Production Eng., Seoul National Univ.) ;
- Lee, Ho-Eun (ERC-ACI, Seoul Natl. Univ) ;
- Park, Hyunsik (Dept. of Mechanical Design and Production Eng., Seoul National Univ.) ;
- Lee, Kyo-Il (Dept. of Mechanical Design and Production Eng., Seoul National Univ.)
- Published : 1992.10.01
Abstract
This paper describes a procedure to design a hovering flight controller for a model helicopter using LQG theory. Parameters of the model helicopter in hover are obtained using direct measurements and calculations proposed by other research. A feedback co is by using digital LQG theory. First, a full state feedback controller is designed to the discretized system taking desirable transient response and other assumptions into account. Then a full-state estimator is designed and revised until desirable response is obtained while global stability is maintained. Performance of the controller is tested by computer simulations. Experiments have been performed using a 3-degree-of-freedom gimbal that holds the model helicopter, and the controller exhibited stable hover capability.
Keywords