제어로봇시스템학회:학술대회논문집
- 2004.08a
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- Pages.969-974
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- 2004
Design of 6-DOF Attitude Controller of the UAV Simulator's Hovering Model
- Keh, Joong-Eup (Defense Quality Assurance Agency) ;
- Lee, Mal-Young (Defense Quality Assurance Agency) ;
- Kim, Byeong-Il (Department of Interdisciplinary Course in Mechatronics, Pusan National University) ;
- Chang, Yu-Shin (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
- Lee, Man-Hyung (School of Mechanical Engineering, Pusan National University)
- Published : 2004.08.25
Abstract
For a maneuvering unmanned autonomous helicopter, it is necessary to design a proper controller of each flight mode. In this paper, overall helicopter dynamics is derived and hovering model is linearized and transformed into a state equation form. However, since it is difficult to obtain parameters of stability derivatives in the state equation directly, a linear control model is derived by time-domain parametric system identification method with real flight data of the model helicopter. Then, two different controllers - a linear feedback controller with proportional gains and a robust controller - are designed and their performance is compared. Both proposed controllers show outstanding results by computer simulation. These validated controllers can be used to autonomous flight controller of a real unmanned model helicopter.