Model Reference Sliding Mode Control of Small Helicopter X.R.B based on Vision
Model Reference Sliding Mode Control of Small Helicopter X.R.B based on Vision
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DOI：
10.5772/5604
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发表时间：
2008-09
影响因子：
2.3
通讯作者：
Wen Wang;K. Nonami;Yuta Ohira
中科院分区：
文献类型：
--
作者：
Wen Wang;K. Nonami;Yuta Ohira
研究了室内小型直升机X.R.B.的自主控制问题。在地震等自然灾害发生时，能够自主飞行的微型飞行器（MAV，Micro Air Vehicle）对于人类无法安全进入的危险区域或狭窄空间的场地和环境的探测将是非常有效的。此外，还有助于防止次生灾害的发生。研究了基于视觉的X.R.B自主悬停控制、模型参考滑模控制的制导控制。
This paper presents autonomous control for indoor small helicopter X.R.B. In case of natural disaster like earthquake, a MAV (Micro Air Vehicle) which can fly autonomously will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be helpful to prevent secondary disaster. This paper describes vision based autonomous hovering control, guidance control for X.R.B by model reference sliding mode control.