Platform description and system modelling for control of an unmanned helicopter

Author

Koslowski, Markus ; Kandil, Amr A. ; Badreddin, Essameddin

Author_Institution

Autom. Lab., Univ. of Heidelberg, Mannheim, Germany

fYear

2012

fDate

6-8 Sept. 2012

Firstpage

391

Lastpage

396

Abstract

This paper presents the Scout B1-100 autonomous unmanned helicopter platform and an appropriate mathematical model for the hovering flight. The assembly of the experimental helicopter platform and its different hardware components are depicted. A dynamical model of the helicopter is derived from first principles and then linearized to obtain system description in state space. The model can be used for controller design in hovering flight. The model parameters are determined using time domain identification techniques. The identified model has been also validated.

Keywords

aircraft control; autonomous aerial vehicles; control system synthesis; helicopters; state-space methods; time-domain analysis; Scout B1-100 autonomous unmanned helicopter platform; controller design; dynamical model; experimental helicopter platform assembly; hardware components; hovering flight; mathematical model; model parameters; platform description; state space; system description; system modelling; time domain identification techniques; unmanned helicopter control; Aerodynamics; Computational modeling; Equations; Helicopters; Mathematical model; Rotors; UAV; autonomous helicopter; mathematical modeling; system identification;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems (IS), 2012 6th IEEE International Conference

Conference_Location

Sofia

Print_ISBN

978-1-4673-2276-8

Type

conf

DOI

10.1109/IS.2012.6335248

Filename

6335248