Control Law Implementation for Rotorcraft UAVs

Abstract

Commercial off-the-shelf rotorcraft and fixed-wing UAVs offer an inexpensive, modular, and effective platform for implementing control laws for classroom instruction and many real-world missions such as aerial photography, surveying, or even entertainment and motivation toward STEM fields. An optimized control law can aid the flight performance of these vehicle, especially if that control law is based on an experimentally-derived model of that specific UAV configuration. After an accurate model of the flight dynamics is identified and a control law is developed, it must be deployed to the COTS flight hardware of the UAV. This paper demonstrates how to deploy a custom control law to the Pixhawk 4 autopilot on an S500 quad-rotor UAV using the MATLAB \ and Simulink with the UAV toolbox and PX4 support package, followed by flight test the vehicle in a real world environment.

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Document Details

Document Type
Technical Report
Publication Date
Jan 12, 2024
Accession Number
AD1218869

Entities

People

  • Judson T. Babcock

Tags

DTIC Thesaurus Topics

  • Aerial Photography
  • Air Force
  • Aircrafts
  • Airframes
  • Altitude
  • Automatic Pilots
  • Computer Programming
  • Control Systems
  • Dynamics
  • Environment
  • Frequency
  • Frequency Domain
  • Ground Stations
  • Rotary Wing Aircraft
  • Simulations
  • Tilt Wings
  • Vehicles

Readers

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  • Computational Modeling and Simulation
  • Software Engineering.