Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/69707
Title: Construction and modeling of a variable collective pitch coaxial UAV
Authors: Cui, J.
Wang, F.
Qian, Z.
Chen, B.M. 
Lee, T.H. 
Keywords: Coaxial helicopter
Flapping dynamics
Model identification
Unmanned aerial vehicle
Issue Date: 2012
Source: Cui, J.,Wang, F.,Qian, Z.,Chen, B.M.,Lee, T.H. (2012). Construction and modeling of a variable collective pitch coaxial UAV. ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics 2 : 286-291. ScholarBank@NUS Repository.
Abstract: This paper describes the construction and modeling of a coaxial unmanned aerial vehicle for in-forest operation. The bare helicopter platform is upgraded and mounted with an onboard navigation system, which includes central processing units and sensors such as inertial measurement unit, camera and scanning laser range finder. The model structure of the helicopter is formulated, in which the model of rotor thrust and roll-pitch dynamics are described in details. The flapping dynamics of the rotor and the stabilizer bar are presented and lumped into a state-space model. The parameters of the state-space model are identified in frequency domain using CIFER. Time domain verification with a new set of flight data exhibits excellent agreement with the prediction of the identified model.
Source Title: ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
URI: http://scholarbank.nus.edu.sg/handle/10635/69707
ISBN: 9789898565211
Appears in Collections:Staff Publications

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