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Tail motion model identification for control design of an unmanned helicopter
Morcego Seix, Bernardo; Saldívar, Eleazar; Nejjari Akhi-Elarab, Fatiha
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
This paper explains the methodology developed to design the yaw control system (heading control system) of the α-SAC UAV. The problem of modeling and controlling the tail motion of this UAV along a desired trajectory is considered. First, the response data of the system are collected during special flight test and a linear time invariant model is extracted by identification techniques. Then, the control system is designed and implemented using a PID feedback/feedforward control method. The technique is tested in simulation and validated in the autonomous flight of the small scale helicopter.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Àrees temàtiques de la UPC::Aeronàutica i espai::Aeronaus::Helicòpters
Automatic control
Control automàtic

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