Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1998.11b
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- Pages.457-459
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- 1998
Hovering Flight Control for a Model Helicopter using the Minimal-Order LQG/LTR Technique
Minimal Order LQG/LTR 기법에 의한 모형헬리콥터의 정지비행 자세제어
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.
Keywords