Published June 19, 1996
| public
Technical Report
Open
The Caltech helicopter control experiment
- Creators
- Zhu, Xiaoyun
- van Nieuwstadt, Michiel
Chicago
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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.Files
CDS96-009.pdf
Files
(1.7 MB)
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Additional details
- Eprint ID
- 28119
- Resolver ID
- CaltechCDSTR:1996.009
- Created
-
2007-12-12Created from EPrint's datestamp field
- Updated
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2019-10-03Created from EPrint's last_modified field
- Caltech groups
- Control and Dynamical Systems Technical Reports