NDLI: Construction, modeling and control of a mini autonomous UAV helicopter

Content Provider	IEEE Xplore Digital Library
Author	Guowei Cai Cai, A.K. Chen, B.M. Lee, T.H.
Copyright Year	2008
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore (Guowei Cai; Cai, A.K.; Chen, B.M.; Lee, T.H.)
Abstract	We present in the paper the comprehensive design procedure of a mini UAV helicopter, called BabyLion. The hardware construction, along with the selection of all of necessary components, will be introduced. Since the system identification method is only partially suitable for the self-built BabyLion, we propose a more suitable parameter identification approach which combines both system identification and first principle modeling techniques to obtain a high fidelity linear model for hover and near hover flight conditions. A flight control law, which is based on the linear quadratic Gaussian (LQG) method and dynamic inversion approach, has been designed for the realization of automatic control. Simulation result and practical implementation results have proved that the designed controller is suitable.
Starting Page	449
Ending Page	454
File Size	382207
Page Count	6
File Format	PDF
ISBN	9781424425020
DOI	10.1109/ICAL.2008.4636193
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-01
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computers BabyLion flight control law onboard computer system Helicopters Aerodynamics Unmanned aerial vehicles first principle modeling System identification Mathematical model system identification Aerospace control
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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