Abstract
In this study, a control scheme and controller design for automatic take off 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 by using ultrasonic sensor is designed to stabilize altitude of the helicopter near ground. Finally, each control system is verified by flight experiment, and automatic landing experiment is also carried out.
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Suzuki, S. (2013). Automatic Take-Off and Landing Control for Small Unmanned Helicopter. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_16
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DOI: https://doi.org/10.1007/978-3-642-37374-9_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-37373-2
Online ISBN: 978-3-642-37374-9
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