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Autonomous Control Systems and VehiclesControl Scheme for Automatic Takeoff and Landing of Small Electric Helicopter

Autonomous Control Systems and Vehicles: Control Scheme for Automatic Takeoff and Landing of... [In this study, a control scheme and controller design for automatic takeoff and landing of a small unmanned helicopter are proposed. First, acceleration feedback controller is designed for stabilizing horizontal motion of the helicopter. In acceleration feedback controller, horizontal acceleration is estimated by using Kalman filter, and desired attitude to cancel out horizontal acceleration is generated by using estimated acceleration. Second, altitude controller is designed to make the altitude of the helicopter follow the desired altitude near ground. We employ ultrasonic sensor to measure the height above the ground. Finally, each control system is verified by flight experiment.] http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png

Autonomous Control Systems and VehiclesControl Scheme for Automatic Takeoff and Landing of Small Electric Helicopter

Part of the Intelligent Systems, Control and Automation: Science and Engineering Book Series (volume 65)
Editors: Nonami, Kenzo; Kartidjo, Muljowidodo; Yoon, Kwang-Joon; Budiyono, Agus
Suzuki, Satoshi
Autonomous Control Systems and Vehicles — Mar 16, 2013
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11 pages

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Publisher
Springer Japan
Copyright
© Springer Japan 2013
ISBN
978-4-431-54275-9
Pages
73 –83
DOI
10.1007/978-4-431-54276-6_5
Publisher site
See Chapter on Publisher Site

Abstract

[In this study, a control scheme and controller design for automatic takeoff and landing of a small unmanned helicopter are proposed. First, acceleration feedback controller is designed for stabilizing horizontal motion of the helicopter. In acceleration feedback controller, horizontal acceleration is estimated by using Kalman filter, and desired attitude to cancel out horizontal acceleration is generated by using estimated acceleration. Second, altitude controller is designed to make the altitude of the helicopter follow the desired altitude near ground. We employ ultrasonic sensor to measure the height above the ground. Finally, each control system is verified by flight experiment.]

Published: Mar 16, 2013

Keywords: Small unmanned helicopter; Automatic takeoff and landing; Kalman filter; Acceleration feedback

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