Abstract
In this study, a control scheme and controller design for automatic takeoff and landing of a small unmanned helicopter are proposed. First, acceleration feedback controller is designed for stabilizing horizontal motion of the helicopter. In acceleration feedback controller, horizontal acceleration is estimated by using Kalman filter, and desired attitude to cancel out horizontal acceleration is generated by using estimated acceleration. Second, altitude controller is designed to make the altitude of the helicopter follow the desired altitude near ground. We employ ultrasonic sensor to measure the height above the ground. Finally, each control system is verified by flight experiment.
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Suzuki, S. (2013). Control Scheme for Automatic Takeoff and Landing of Small Electric Helicopter. In: Nonami, K., Kartidjo, M., Yoon, KJ., Budiyono, A. (eds) Autonomous Control Systems and Vehicles. Intelligent Systems, Control and Automation: Science and Engineering, vol 65. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54276-6_5
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DOI: https://doi.org/10.1007/978-4-431-54276-6_5
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