Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICAL.2008.4636193
Title: Construction, modeling and control of a mini autonomous UAV helicopter
Authors: Cai, G. 
Cai, A.K.
Chen, B.M. 
Lee, T.H. 
Keywords: BabyLion
First principle modeling
Flight control law
Onboard computer system
System identification
Issue Date: 2008
Source: Cai, G.,Cai, A.K.,Chen, B.M.,Lee, T.H. (2008). Construction, modeling and control of a mini autonomous UAV helicopter. Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008 : 449-454. ScholarBank@NUS Repository. https://doi.org/10.1109/ICAL.2008.4636193
Abstract: 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. © 2008 IEEE.
Source Title: Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
URI: http://scholarbank.nus.edu.sg/handle/10635/69710
ISBN: 9781424425020
DOI: 10.1109/ICAL.2008.4636193
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