대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

Minimal Order LQG/LTR 기법에 의한 모형헬리콥터의 정지비행 자세제어

Hovering Flight Control for a Model Helicopter using the Minimal-Order LQG/LTR Technique

  • 양준선 (아주대학교 대학원 제어계측공학과) ;
  • 한권희 (아주대학교 대학원 제어계측공학과) ;
  • 이자성 (아주대학교 전자공학부)
  • 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.)
  • 발행 : 1998.11.28
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

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.

키워드