Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Hovering Flight Control for a Model Helicopter using the Minimal-Order LQG/LTR Technique

Minimal Order LQG/LTR 기법에 의한 모형헬리콥터의 정지비행 자세제어

  • Yang, J.S. (Dept. of Control & Instrumentation Eng. Ajou Univ.) ;
  • Han, K.H. (Dept. of Control & Instrumentation Eng. Ajou Univ.) ;
  • Lee, J.S. (School of Electronics Eng. Ajou Univ.)
  • 양준선 (아주대학교 대학원 제어계측공학과) ;
  • 한권희 (아주대학교 대학원 제어계측공학과) ;
  • 이자성 (아주대학교 전자공학부)
  • Published : 1998.11.28
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Abstract

This paper presents a 3-DOF hovering flight controller for a model helicopter using the minimal order LQG/LTR technique. A model helicopter is an unstable multi-input multi-output nonlinear system strongly exposed to disturbances, so a robust multi-variable control theory should be applied to control it. The minimal order LQG/LTR technique which uses a reduced-order observer in the LTR procedure is used to design the controller. Performances for the 3-DOF hovering flight controller are evaluated through computer simulations.

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