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Auto-tuning Control of Multi-rotor Helicopter for Industrial Application

Kenzo Nonami


Recently, microcontrollers and sensors have seen progress with regard to miniaturization and performance owing to considerable advances in integrated circuit technology. High-performance unmanned aerial vehicles (UAVs) are now being actively developed
around the world. UAVs are used to collect information from sites such as disaster areas; however, autonomous control requires considerable time and effort for modeling and control. This paper proposes a method for auto-tuning the controller.

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(1) Daisuke Iwakura, Yuze Song, Kenzo Nonami, and Kazuki Osaragi, “Autonomous Control of Multirotor Helicopter for Industrial Use”, Proceeding of the ICIUS2012.

(2) Shigeru Ohmatsu and Toru Yamamoto: Self-tuning Control, Corona Pub.,1996

(3) Kenzo Nonami, et al,,Control System Design Using MATLAB, Tokyo Denki Univ.., 1998

(4) Shinji Suzuki and Takashi Suzuki, Parameter Adjustment Algorithm for Adaptive System, Trans. of the Society of Instrument and Control Engineers, Vol.21,pp.691-697, 1985



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