Construction, modeling and control of a mini autonomous UAV helicopter

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.