2A2-J06 Autonomous Control of Ultra Small-Scale Single Rotor Helicopter for Indoor and Outdoor(Aerial Robot and Mechatronics(2))
Yusuke Sato, Masato OTA, Daigo FUJIWARA, Kenzo NONAMI · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
The small unmanned helicopter has excellent night characteristics such as hovering and vertical take-off and landing. Therefore, it is expected that the helicopter will be used for various missions. In this paper, we introduce about the autonomous control of utra small-scale unmanned helicopter named SRB Quark SG. Firstly, we designed the control device and system. Secondly, we described the attitude model of SRB Quark SG which is derived by black box modeling using MMO mathematical model and the attitude controller which is designed by LQI control method. Furthermore, we described orientation controller which is designed by P control method. Finally, we show flight experiment result, and the perfomance of the attitude and orientation controller.