Model-based development of MAV altitude control via ground-based equipment

Wright, Steve

Abstract

This paper presents the development and demonstration of an automated altitude controller for a very low weight Micro Air Vehicle (MAV) (i.e. less than 15g), via low-cost ground-based equipment, and without the provision of active telemetry data from the airframe: this approach contrasts with current technologies that generally seek to place greater functionality within the airframe itself. It is shown that development of a suitable control algorithm is most efficiently achieved by simultaneous creation of an adequate airframe dynamic model, allowing stable control laws to be developed away from the unpredictable flight-test environment and adequate model development to be closely verified against flight-test data. The methodology is practically demonstrated with a simple commercial-off-the-shelf (COTS) MAV whose internal stabilization controller is not available for modification and has no facility for transmission of airframe parameters to the controlling ground-station.

• Journal Article Type: Article
• Acceptance Date: Mar 2, 2017
• Online Publication Date: Aug 23, 2017
• Publication Date: Aug 23, 2017
• Deposit Date: Apr 3, 2017
• Publicly Available Date: Feb 23, 2018
• Journal: International Journal of Modelling, Identification and Control
• Print ISSN: 1746-6172
• Publisher: Inderscience
• Peer Reviewed: Peer Reviewed
• Volume: 28
• Issue: 4
• Pages: 361-369
• DOI: https://doi.org/10.1504/IJMIC.2017.10007332
• Keywords: quadcopter, UAV, micro air vehicle, visual tracking, control, ground-effect, modelling
• Public URL: https://uwe-repository.worktribe.com/output/907743
• Publisher URL: http://dx.doi.org/10.1504/IJMIC.2017.10007332
• Contract Date: Apr 3, 2017