• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.590-593
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• 2005

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small unmanned helicopter is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. The nonlinear adaptive fuzzy controller design procedure and its applications for altitude control of unmanned helicopter were described in the paper. This research was concentrated on describing the design methodologies of altitude controller design for small unmanned helicopter acquiring autonomous take off and vertical movement. The design methodologies and performance of the altitude controller were simulated and verified with an adaptive fuzzy controller. Throughout simulation results, I showed that the proposed adaptive controllers have enhanced control performance such as robustness, effectiveness and safety, in the altitude control of the unmanned helicopter.

• 대한임베디드공학회논문지
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• 제6권5호
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• pp.303-309
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• 2011

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.

• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.930-935
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• 2005

In this paper, position tracking control of an autonomous helicopter is presented. Combining an LQR method and a proportional control forms a simple PD control. Since LQR control gains are set for the velocity control of the helicopter, a position tracking error occurs. To minimize a position tracking error, neural network is introduced. Specially, in the frame of the reference compensation technique for teaming neural network compensator, a position tracking error of an autonomous helicopter can be compensated by neural network installed in the remotely located ground station. Considering time delay between an auto-helicopter and the ground station, simulation studies have been conducted. Simulation results show that the LQR with neural network performs better than that of LQR itself.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.265-270
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• 2005

This paper presents a new attitude stabilization and control of an unmanned helicopter based on neural network compensation. A systematic derivation on the dynamics of an unmanned small-scale helicopter is performed. Combined rotor-fuselage-tail dynamics is derived in body-fixed reference frame with its origin at the C.G. of the helicopter. And the resulting nonlinear equation of motion consists of 6-DOF air vehicle dynamics as well as the rotor flapping and engine torque equations. A simulation model was modified using the existing simulator for an unmanned helicopter dynamic model, which reflects the unmanned test helicopter(CNUHELI). The dynamic response of the refined model was compared with the flight test data. It can be shown that a good coincidence was accomplished between the real unmanned helicopter system and the mathematical model. This dynamic model was linearized for classical controller design using small perturbation method. A Neuro-PD control system was designed for both longitudinal and lateral flight modes, and the results were compared with the PD-only control response. Simulation results show that the proposed Neuro-PD control system demonstrates better performance.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1136-1141
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• 2008

The helicopter rotor system generates lift, thrust, maneuvering force and moment to the helicopter with the torque and pitch control force transferred from the main rotor hub/control. And the tail rotor system generates the thrust for yaw axis control of the helicopter with the torque and pitch control force transferred from the tail rotor hub/control. Ground whirl test shall be performed to verify the compliance of requirement performance test and dynamic test of rotor blade and hub/control. This paper describes a design of whirl tower test facility for helicopter rotor system test and evaluation. Design results are summarized and compared with design requirements.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.173-177
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• 1992

The Helicopter has a lot of flight modes. The most characteristic flight mode is Hovering. It enables the helicopter to be used in many situations. However, a helicopter has nonlinear dynamics so its mathematical modeling is very difficult. Hence it is not easy to control helicopter in hover. In this paper, RC model helicopter is selected as a plant. To stabilize the behavior of RC model helicopter, Fuzzy alogrithm is used as a controller and one camera is used as a sensor. To get proper Information from camera Image, three characteristic points are attatched to the helicopter and a position recognition algorithm is developed. Experiments are performed to stabilize 3 rotational motions synchronousely with fuzzy control algorithm. As a result, Fuzzy control represents better performances than the conventional PID control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2283-2285
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• 2001

This paper proposed to a neural network based fuzzy control (neuro-fuzzy control) technique for attitude control of helicopter with strongly dynamic nonlinearities and derived a helicopter aerodynamic torque equation of helicopter and the force balance equation. A neuro-fuzzy system is a feedforward network that employs a back-propagation algorithm for learning purpose. A neuro-fuzzy system is used to identify nonlinear dynamic systems. Hence, this paper presents methods for the design of a neural network(NN) based fuzzy controller(that is, neuro-fuzzy control) for a helicopter of nonlinear MIMO systems. The proposed neuro-fuzzy control determined to a input-output membership function in fuzzy control and neural networks constructed to improve through learning of input-output membership functions determined in fuzzy control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1504-1508
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• 1996

In this paper, we derive dynamic equation of helicopter and design controller based on variable structure system. It is difficult to control helicopter because it has non-linear coupling between input and output of system and is MIMO system. The design of control law is considered here using variable structure methodology giving the robustness to parameter variations and invariance to some subsets of external disturbance. However we derive dynamic equations of helicopter and design stabilizing variable structure controller. Also, simulation results are given in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.95-99
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• 1998

We introduce an autonomous flying system using a model-helicopter. A feature of the helicopter is that autonomous flight is realized on the low-cost compact model-helicopter. Our helicopter system is divided into two parts. One is on the helicopter, and the other is on the land. The helicopter is loaded with a vision sensor and an electronic compass including a tilt sensor. The control system on the land monitors the helicopter movement and controls. We firstly introduce the configuration of our helicopter system with a vision sensor and an electronic compass. To determine the 3-D position and posture of helicopter, a technique of image recognition using a monocular image is described based on the idea of the sensor fusion of vision and electronic compass. Finally, we show an experiment result, which we obtained in the hovering. The result shows the effectiveness of our system in the compact model-helicopter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1375-1379
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• 2004

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small aerial vehicle is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. In this paper, a flight control system was designed for an unmanned helicopter. This paper was concentrated on describing the mechanical design, electronic equipments and their interconnections for acquiring autonomous flight. The design methodologies and performance of the helicopter were illustrated and verified with a linearized equation of motion. The LQG based estimator and controller was designed and tested for this unmanned helicopter.