Experimental Framework for Controller Design of a Rotorcraft Unmanned Aerial Vehicle Using Multi-Camera System

  • Oh, Hyon-Dong ;
  • Won, Dae-Yeon ;
  • Huh, Sung-Sik ;
  • Shim, David Hyun-Chul ;
  • Tahk, Min-Jea
  • Published : 2010.06.15


This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.


Experimental framework;Multi-camera system;Rotorcraft unmanned aerial vehicle;Three-degree of freedom flying mill


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Supported by : Agency for Defense Development, Unmanned Technology Research Center (UTRC), Korea Advanced Institute of Science and Technology