Flight Control System of an Experimental Unmanned Quad-Rotor Helicopter
نویسنده
چکیده
An autonomous robot with vertical take-off and landing (VTOL) capability could be useful for many applications including search and rescue, exploration in hazardous environments, monitoring, surveillance and investigation or even for intelligence. However design of a flight control system for a small UAV is a challenging task. Unlike in conventional aircrafts the control algorithm has to be implemented in a size limited processing environment and has to cope with smaller mechanical time constants and noisy inertial sensor data. This paper introduces the methodology used in the development of an experimental unmanned quad-rotor helicopter, explores the limits of the linear LQG controller used in the design and for improvement suggests the emerging SDRE nonlinear control design method.
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