Heli Japan 2002, Utsunomiya, Japan


Controller design of large-scale unmanned helicopter

G.Miyamori, T.Akasaka, M.Nakamura, S.Hashimoto, S.Adachi and Y.Segawa

Abstract

The autonomous flight control technology of unmanned helicopters is required to execute missions covering the wide mode of operation from rescuing to surveillance. The control system has been developed in the current research for the purpose of realizing autonomous flight control for the RoboCopter, which is a large-sized industrial-use unmanned helicopter. The system identifications wrer carried out last year to establish a mathematical model of the RoboCopter in hover-flight. In this paper, a controller of the RoboCopter was designed using the established model, and experiments of autonomous flight were conducted.

Keywords: Flight Experiment, Robust Control