Modeling and System Identification of the muFly Micro Helicopter
ABSTRACT An accurate mathematical model is indispensable for simulation and control of a micro helicopter. The nonlinear model in this
work is based on the rigid body motion where all external forces and moments as well as the dynamics of the different hardware
elements are discussed and derived in detail. The important model parameters are estimated, measured or identified in an identification
process. While most parameters are identified from test bench measurements, the remaining ones are identified on subsystems
using the linear prediction error method on real flight data. The good results allow to use the systems for the attitude and
altitude controller design.
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- "We selected quadrotors as we require a small platform that can hover in place as well as control in outdoor environments. We could have equally chosen coaxial helicopters  or other small form factor vehicles. The quadrotor shown in Fig. 4 is sold by Ascending Technologies . "
Conference Paper: Persistent surveillance with a team of MAVs[Show abstract] [Hide abstract]
ABSTRACT: In this paper, we focus on the detailing of a system architecture capable of addressing the problem of persistent surveillance with a team of autonomous micro-aerial vehicles (MAVs). We detail the problem of interest, discuss system requirements, and provide an overview of our approach. The remainder of the paper is dedicated to the system design and evaluation on a team of quadrotors in simulation and experiments.2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011; 09/2011
- "The model describes a single rotor helicopter which is substantially larger then the CoaX. We base our model on  and extend it with approaches from  and our own development. "
Conference Paper: Modeling and Decoupling Control of the CoaX Micro Helicopter.[Show abstract] [Hide abstract]
ABSTRACT: The dynamics of micro coaxial helicopters are coupled, especially in the presence of a stabilizer bar and in dynamic maneuvers. This paper presents a model-based ap- proach for active decoupling of the dynamics of a micro coaxial helicopter. This allows for easier and more accurate operation of the system. The nonlinear model covers all degrees of freedom for attitude and altitude. It accounts for hover and cruise flight situations and explicitly captures the off-axis dynamics and the dynamics of the stabilizer bar. A six-axis force/torque sensor and an RPM measurement system are used in a custom built test bench. It is applied for analysis of the forces and torques generated by the rotors in combination with the dynamics of the drive train and the swashplate. The parameter identification and the model validation is obtained with flight data recorded with a vision-based motion tracking system. The decoupling controller is implemented on the commercial robotic helicopter CoaX and its performance is shown via a motion experiment. Index Terms— Coaxial micro helicopter, Decoupling control, Nonlinear model, Parameter identification2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011; 09/2011
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ABSTRACT: Nonlinear modeling of coaxial microhelicopters is studied. All equations are derived using a Lagrangian approach and simplified aerodynamics assumptions so that all parameters have a physical meaning; there is no "black box." The model is constructed with a view toward control design and real-time simulation. The state-space size is kept minimal, and the numerical conditioning of the resulting differential equations is critical. A set of coordinate transformations is proposed that allows averaging and reducing the number of system equations, effectively suppressing stiffness and tremendously accelerating numerical integration.01/2014; 59(1). DOI:10.4050/JAHS.59.012003