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Altitude control performance improvement via preview controller for unmanned airplane for radiation monitoring system

Sato, Masayuki*; Muraoka, Koji*; Hozumi, Koki*; Sanada, Yukihisa  ; Yamada, Tsutomu*; Torii, Tatsuo 

This paper is concerned with the design problem of preview altitude controller for Unmanned Airplane for Radiation Monitoring System (UARMS) to improve its control performance. UARMS has been developed for radiation monitoring around Fukushima Daiichi Nuclear Power Plant which spread radiation contaminant due to the huge tsunamis caused by the Great East Japan Earthquake. The monitoring area contains flat as well as mountain areas. The basic flight controller has been confirmed to have satisfactory performance with respect to altitude holding; however, the control performance for variable altitude commands is not sufficient for practical use in mountain areas. We therefore design preview altitude controller with only proportional gains by considering the practicality and the strong requirement of safety for UARMS. Control performance of the designed preview controller was evaluated by flight tests conducted around Fukushima Sky Park.

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