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Proceedings Paper

H2 control for model helicopter in hover
Author(s): Moo Seok Kim; Joon Ki Kim; Jeong Yup Han; Hong Bae Park; Soon Ju Kang
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Paper Abstract

This paper presents mathematical model of six degree-of-freedom (6-DOF) helicopter (ERGO50) in hover, and H2 feedback controller which is a powerful technique for the MIMO system as a helicopter. Mathematical model of the helicopter is multi-input multi-output (MIMO) and linearized system which accommodates aerodynamics. H2 controller based on optimal control theory is used in a myriad application and plays an important role as a valuable precursor to other advanced methods for future work, when we need to improve stability of the helicopter. We design linear-quadratic-gaussian controller as H2 controller. Simulation results show good performance.

Paper Details

Date Published: 2 May 2006
PDF: 7 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 604215 (2 May 2006); doi: 10.1117/12.664592
Show Author Affiliations
Moo Seok Kim, Kyungpook National Univ. (South Korea)
Joon Ki Kim, Kyungpook National Univ. (South Korea)
Jeong Yup Han, Kyungpook National Univ. (South Korea)
Hong Bae Park, Kyungpook National Univ. (South Korea)
Soon Ju Kang, Kyungpook National Univ. (South Korea)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics

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