Zhu, Xiaoyun and van Nieuwstadt, Michiel (1996) The Caltech helicopter control experiment. California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:1996.009
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This report describes the Caltech helicopter control experiment. The experiment consists of an electric model helicopter interfaced to and controlled by a PC. We describe the hardware and software. A state-space model for the angular position is identified from experimental data near hover, using the prediction error method. An LQR controller with integrators for set point tracking is designed for the system. We also undertake a separate identification and loop shaping control for the yaw dynamics.
|Item Type:||Report or Paper (Technical Report)|
|Additional Information:||Research supported in part by NASA, by NSF Grant CMS-9502224 and AFOSR Grant F49620-95-1-0419.|
|Group:||Control and Dynamical Systems Technical Reports|
|Subject Keywords:||model helicopter, identification, real-time control, LQR, loop shaping|
|Usage Policy:||You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.|
|Deposited By:||Imported from CaltechCDSTR|
|Deposited On:||12 Dec 2007|
|Last Modified:||26 Dec 2012 14:30|
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