IFAC 15th World Congress, Barcelona, Spain
System identification and robust control
of a large-scale unmannedhelicopter
S.Hashimoto, S.Adachi, Y.Segawa, G.Miyamori,
T.Akasaka and A.Tan
Abstract
In this paper, first, system identification experiments for a large-scale unmanned
helicopter are carried out to obtain a mathematical model of
aircraft dynamics. The attitude error of the helicopter is compensated by a
stability augmentation system (SAS) that permits the experiments during the
flight. System identification results are shown on the dynamics by using the
measured input and output data. Next, GPS (Global Positioning System) and INS
(Inertial Navigation System) hybrid navigation system which obtains a present
aircraft's information is discussed.
Moreover, the robust position control system based on the identified mathematical
model of aircraft is constructed. Finally, the position control experiments
suggest that the proposed modeling and design approach is effective enough for
practical applications.
Key words: Helicopter control, Autonomous control, System identification, Navigation systems, Robust control