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Published June 19, 1996 | public
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The Caltech helicopter control experiment

Abstract

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.

Additional Information

Research supported in part by NASA, by NSF Grant CMS-9502224 and AFOSR Grant F49620-95-1-0419.

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Created:
August 19, 2023
Modified:
October 24, 2023