Control system design for rotorcraft-based unmanned aerial vehicles using time-domain system identification

This paper introduces the development of flight control system for rotorcraft-based unmanned aerial vehicle (RUAV). In this research, the linear time-invariant model valid for hover is sought. The system response data is acquired in carefully devised experiment procedure and then a linear time-invar...

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Bibliographic Details
Published in2000 IEEE International Conference on Control Applications pp. 808 - 813
Main Authors Hyunchul Shim, D., Hyoun Jin Kim, Sastry, S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2000
Subjects
Aerospace control
Control systems
Feedback control
Helicopters
Nonlinear dynamical systems
System identification
Time domain analysis
Unmanned aerial vehicles
Vehicle dynamics
Wireless communication
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Summary:This paper introduces the development of flight control system for rotorcraft-based unmanned aerial vehicle (RUAV). In this research, the linear time-invariant model valid for hover is sought. The system response data is acquired in carefully devised experiment procedure and then a linear time-invariant system model is obtained using the time-domain analysis method. The acquired model is used to design feedback controller consisting of inner-loop attitude feedback control, mid-loop velocity feedback control and the outer-loop position control. The proposed controller is implemented on an on-board digital computer and tested in a Berkeley RUAV and shows outstanding hovering performance.
ISBN:9780780365629
0780365623
DOI:10.1109/CCA.2000.897539