Modeling and control design for miniature autonomous coaxial rotorcraft

Nuri Kundak, Matthew Rhinehart, Berenice F Mettler May

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations


This paper describes an approach for the design and integration of a control system for autonomous miniature rotorcraft. Precise and effective operation in complex spatial environments requires a tight integration of the control and guidance system. To achieve this we need to relate the spatial maneuvering specifications based on flight tasks to the inner-loop control system requirements.The paper also describes the identification of a linear model for the miniature coaxial rotorcraft dynamics used for our analysis and flight experiments. The collection of the flight test data for the identification and closed-loop experimental validation is performed in our interactive flight research lab.This work also serves as demonstration of this new type of indoor testing environment.

Original languageEnglish (US)
Pages (from-to)1690-1699
Number of pages10
JournalAnnual Forum Proceedings - AHS International
StatePublished - Aug 28 2008
Event64th Annual Forum - AHS International - Montreal, Canada
Duration: Apr 29 2008May 1 2008


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