Daigo Fujiwara

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In this paper, we design a feed-forward trajectory following controller by using optimal preview control theory for a helicopter, based on a transition model and an LQI position controller derived from previous work. In order to apply optimal preview control theory to trajectory following control at any given yaw angle, we propose a correction method for(More)
This paper describes autonomous hovering control and horizontal guidance control with H/sub /spl infin// controller and performance verification with flight experimental results for the hobby-class small-scale unmanned helicopter. A simple black-box system identification method was applied, and single-input/single-output (SISO) non-cross coupling stable(More)
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