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 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 digital onboard computer and tested in a Berkeley RUAV and shows outstanding hovering performance. 1
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