MAV control system design based on virtual instrument

A new design scheme of micro Rotorcraft Unmanned Aerial Vehicle (MRUAV) control system based on Virtual Instrument (VI) is developed in this paper. The control platform constructed by NI CompactRIO (a VI device) is used to realize the flight data acquisition, control algorithm design and control command transmission instead of the conventional flight controller. Considering the inaccuracy of the mathematical model and the adverse influence of high-frequency vibration, the Active Disturbance Rejection Controller (ADRC) not relying on the accurate mathematical model of controlled plant is selected as the control algorithm. The suitable ADRC parameters are recognized through successive approximation with the help of the online debugging function of VI. Finally, Flight experiments show the validity of the control system.