Monocopter is a single-wing rotary flight system which has the capability of hovering. This flyer includes two dynamic parts in which more efficiency can be expected rather than other Micro UAVs due to the extended area of wing compared to its frame. Low capital cost and simple mechanism rather than other systems such as helicopter are the most important specifications of this flight system. In this paper, a model of monocopter flight system has been designed and implemented. Then, a new method of monocopter control and the related hardware has been designed and constructed using photo diode array in order to define position angle of flight system. Designers and constructors have to build a digital compass with the related advantages and disadvantages for this purpose. In the next stage, the optimized flight sample was redesigned and reconstructed and the dynamic parameters of flying were set due to existed hardware restrictions. Then, different experimental tests have been carried out after hardware installation of the control system. So, the controllable flying has been implemented using this control system.

One of the most complex issues which are proposed in designing a controller for autopilots is robustness. This requirement is due to the dynamic model changes and also, the resistance to environmental disturbances. A main factor that changes the dynamic model of the helicopter autopilot is any change in body mass center, such as any additional load. Furthermore, wind is one of the main causes of environmental disturbances. In this paper model identification of four systems in helicopter by using real data is presented. For all systems robust H2/H∞ and mixed sensitivity controller are designed. The simulation results show the robustness of designed controllers in the existence of uncertainty. The designed controller was implemented on the real case study. Results demonstrate the robustness of the system.

Monocopter is a single-wing rotary flight system which has the capability of hovering. This flyer includes two dynamic parts in which more efficiency can be expected in comparison to other Micro UAVs due to the extended area of wing compared to its frame. Low capital cost and simple mechanism in comparison to other systems such as helicopter are the most important specifications of this flight system.In this paper, a model of monocopter flight system has been designed and implemented. An available MEMS attitude and heading reference system (AHRS) sensor has been used for the control purpose. But the main challenge is the technique to reduce the monocopter speed in order to regulate in an acceptable range of AHRS's operating points. In most of similar projects, designers and constructors have to build a digital compass, in order to recover this challenge. So the sensor's calibration and their combinations were the main problems which they have to deal with. In this model, the previous designs were employed for reducing the monocopter speed and a novel design will be presented by implementation of a perfect control system using some new elements such as winglet and fly bar. Finally flight tests have been carried out successfully in three phases and results were presented in this paper.