10.1.1.135.4759英文电子资料.pdfVIP

Proceedings of the 2000 IEEE InternationalConference on Control Applications WM3-5 2~20 Anchorage, Alaska, USA September 25-27,2000 Control System Design for Rotorcraft-based Unmanned Aerial Vehicles using Time-domain System Identification David Hyunchul Shim*, Hyoun Jin Kim*,Shankar Sastry** Graduate Students,Departmentof Mechanical Engineering, University of California at Berkeley Professor, Department of Electrical Engineering and Computer Science,University of California at Berkeley (hcshimjin,sastry] @robotics.eecs.berkeley.edu ABSTRACT research, there are more limitations on accessing test facilities and resources. Hence, it has been often attempted to borrow full size This paper introduces the development of flight control system for helicopter models[ 11 as the template for small-size RUAV rotorcraft-based unmanned aerial vehicle(RUAV). In this research, dynamics, assuming the dynamics of full-size and RUAV are the linear time-invariant model valid for hover is sought. The similar. Unfortunately, this is rather hard to be justified due to the system response data is acquired in carefully devised experiment servorotor mechanism found in almost all of small size procedure and