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Control Scheme for Automatic Take off and Landing of Small Electric Helicopter

S. Suzuki


In this paper, a control scheme and controller design for automatic take off and landing of the unmanned helicopter are proposed. Acceleration feedback controller is designed for stabilizing the horizontal motion of the helicopter. In the controller, horizontal acceleration is estimated by using Kalman filter, and
desired attitude is generated by using estimated acceleration. Altitude controller is designed to make altitude of the helicopter follows desired altitude. We employ ultrasonic sensor to measure the height above the ground. Finally, each control system is verified by experiment.

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