Title :
Identification and control of a model helicopter in hover
Author :
Morris, John C. ; Van Nieuwstadt, Michiel ; Bendotti, Pascale
Author_Institution :
Dept. of Electr. Eng., California Inst. of Technol., Pasadena, CA, USA
fDate :
29 June-1 July 1994
Abstract :
A state-space model for a small radio-controlled helicopter in hover is developed. Linear estimation is used to identify parameters of the model. The parameter variances are used to develop an uncertainty description of the system. An LQG controller with setpoint tracking is designed and implemented on this system.
Keywords :
aircraft control; helicopters; linear quadratic Gaussian control; parameter estimation; state-space methods; telecontrol; LQG controller; hovering; linear estimation; model helicopter; parameter identification; setpoint tracking; small radio-controlled helicopter; state-space model; uncertainty description; Control system synthesis; Control systems; Couplings; Helicopters; Postal services; Pulse width modulation; Radio control; Rotors; Uncertainty; Wrist;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752256
