2007 Fiscal Year Final Research Report Summary
Adevebpment of flight control systems for an autonomous small helicopter
| Project/Area Number |
18560757
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Aerospace engineering
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| Research Institution | University of Yamanashi |
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Principal Investigator |
FUJIMORI Atsushi University of Yamanashi, Department of Research Interdisciplinary Graduate School of Medicine and Engineering, Professor (20209109)
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| Project Period (FY) |
2006 – 2007
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| Keywords | Autonomous helicopter / Flight control / Control system design / Gain scheduling / Radio controlled helicopter |
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| Research Abstract |
Recently, unmanned aerial vehicles have been developed for the purposes of scientific observations, detecting disasters, surveillance of traffic and army objectives. The aim of this research is to develop flight control systems for an autonomous small helicopter. A flight control design for longitudinal motion of helicopter was first studied in which the helicopter hovers at a start position, moves to a goal position with keeping a specified cruise velocity and hovers again at the goal A gain scheduling state feedback law was designed to stabilize the vehicle and track a reference which realizes the flight mission. The effectiveness of the proposed flight control system was evaluated by computer simulation using Matlab / Simulink. Next, a small autonomous helicopter system based on a radio controlled helicopter was constructed. A flight experiment was performed to evaluate the automatic control by a PC.
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