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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    Title :

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


    Contributors:


    Publication date :

    2000-01-01


    Size :

    608908 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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