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Control system design for rotorcraft-based unmanned aerial vehicles using time-domain system identification

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3 Author(s)
Shim, D.H. ; Dept. of Mech. Eng., California Univ., Berkeley, CA, USA ; Hyoun Jin Kim ; Sastry, S.

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 the 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 an on-board digital computer and tested in a Berkeley RUAV and shows outstanding hovering performance

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Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on

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