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Optimal Autonomous Control of Small-Scale Unmanned Helicopter

M. Ota

Abstract


This paper presents the autonomous control of small-scale unmanned helicopter. A small-scale unmanned helicopter has a potential of performing excellent flight characteristic such as hovering and moving sideways during flight. Hence, the possibilities of applying such helicopters in performing specific tasks is widely expected and being the focus of research. A control system which is based on LQI control method was designed and implemented. The control system consists of the vertical velocity and rotor speed controller. The designed altitude controller implements the velocity controller in its inner loop. Experiment is then carried out, with results showed the effectiveness of our controller.

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DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.399

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