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http://dx.doi.org/10.14372/IEMEK.2011.6.5.6

Intelligent Force Control Ap plication of an Autonomous Helicopter System  

Eom, Il Yong (현대중공업)
Jung, Seul (충남대학교 메카트로닉스공학과)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.6, no.5, 2011 , pp. 303-309 More about this Journal
Abstract
In this paper, an intelligent force control technique is applied to an autonomous helicopter. Although most research on the autonomous helicopter system is about navigation and control, force control of an autonomous helicopter system is quite new and not presented yet. After controlling the position of the helicopter by the LQR method, force control is applied. The adaptive impedance force control algorithm is introduced and tested to regulate the desired force under unknown location and stiffness of the environment. To compensate for uncertainty from outer disturbance, a neural network is added to form an intelligent force control framework. Simulation studies show that the proposed force control algorithm works well.
Keywords
Force control; Helicopter system; Neural network;
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Times Cited By KSCI : 1  (Citation Analysis)
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