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

被引：71

作者：

Shim, DK ^{[1
]}

Kim, HJ ^{[1
]}

Sastry, S ^{[1
]}

机构：

[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA

来源：

PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS | 2000年

关键词：

D O I：

10.1109/CCA.2000.897539

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 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 digital onboard computer and tested in a Berkeley RUAV and shows outstanding hovering performance.

引用

页码：808 / 813

页数：6