Identification and control of a miniature rotorcraft Unmanned Aerial Vehicle (UAV)

Abstract

We present in this paper an Unmanned Aerial Vehicle(UAV) based on a miniature helicopter. The UAV platform consists of sensors that sense the movement of the helicopter, wireless communication and a PC based controller. The model identification for the yaw movement is described. Based on the identified model, an incremental PID controller was designed and implemented, with very good results.

Coaxial UAV helicopter control laboratory design

“…Other projects more closely related to the one described in this paper are [4], [5] and [6]. They all do the control computing in a ground control station, rather than onboard like the projects explained before.…”

“…However, the solution explained here, developed independently, is similar to the one explained there. Paper [5] describes the use of an onboard IMU and a bluetooth connection to send all the information to the controller base.…”

Nonlinear modeling of a miniature fixed-pitch coaxial UAV

“…Moreover, their methods of parameter identification are not comprehensive enough. For example in [9], the helicopter dynamics were treated as a black box, while the whole system is vaguely identified using the CIFER (Comprehensive Identification from FrEquency Responses) toolkit. To complement the existing work, this paper presents the detailed derivation of the nonlinear model for a fixedpitch coaxial helicopter, together with experimental methods used to identify the key parameters of the model.…”