H.INF. Hovering and Guidance Control for Autonomous Small-Scale Unmanned Helicopter

Abstract

Abstruct-This paper describes autonomous hovering control and horizontal guidance control with H, controller and performancc vcrification with flight experimental results for ihe hobh>--class small-scale unmanned helicopter. A simple black-box system identificdon method was applied, and single-inputjsingle-output (SISO) non-crosscoupling stable models were obtained. Cross-validation results showed close agreement in the respective output signals obtained by simulation and by experiment. Attitude control was designed as a minor feedbxk loop of praportional-integral (PI) blocks with a feed-forward compensator for improvement of referencefollowing performance. An H, horizontal velocity control system was constructed as an outer feedback loop of an attitude control. The H, controllers were designed in the frequency domain using four closed-loop control specificalions and were repeatedly tuned according to the time domain specifications. Position control was constructed by a proportionalderivative (PD) controller serving as an outer feedback loop of If, horizontal velocity control. In the flight experiments, hovering performance within a 1-m diameter circle and 15m square point-twpoint horizontal guidance control were achieved. Good consistency between experimental data and simulation data demonstrates the high accuracy of the models and the adequacy of the modeling method.