Abstract
MAV (Micro Air Vehicle) will be very effective for gathering information in dangerous area or narrow space.In that case, autonomous control is essential. This paper is concerned with autonomous control of small co-axial helicopter: X.R.B. Horizontal acceleration is decided by force from lower rotor and upper rotor. Direction of the force is decided by angle of rotation surface of lower rotor, upper rotor and stabilizer. Therefore the model which physical meaning of parameter is clear can be constructed. Control system is constructed by LQI controller and Kalman filter using the model. Good control performance is achieved by experiment. 3D position of X.R.B is measured by using stereo vision camera and 3-axis attitude is measured by small attitude sensor.
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