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System Identification and Control of an Aerobot Drive System

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3 Author(s)
Paul Pounds ; Department of Engineering, Australian National University, Bld 32 North Road, Acton ACT 0200 Australia, ; Robert Mahony ; Peter Corke

Fast thrust changes are important for authoritive control of VTOL micro air vehicles. Fixed-pitch rotors that alter thrust by varying rotor speed require high-bandwidth control systems to provide adequate performace. We develop a feedback compensator for a brushless hobby motor driving a custom rotor suitable for UAVs. The system plant is identified using step excitation experiments. The aerodynamic operating conditions of these rotors are unusual and so experiments are performed to characterise expected load disturbances. The plant and load models lead to a proportional controller design capable of significantly decreasing rise-time and propagation of disturbances, subject to bus voltage constraints.

Published in:

Information, Decision and Control, 2007. IDC '07

Date of Conference:

12-14 Feb. 2007