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.


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    Titel :

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


    Beteiligte:
    Hyunchul Shim, D. (Autor:in) / Hyoun Jin Kim, (Autor:in) / Sastry, S. (Autor:in)


    Erscheinungsdatum :

    01.01.2000


    Format / Umfang :

    608908 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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