Control of Microcoaxial Helicopter Based on a Reduced-Order Observer

AbstractMiniature aerial vehicles (MAVs) are finding applications in a number of civilian domains in which their autonomous operations are desirable. Applications of miniature aerial vehicles in different areas are growing exponentially due to technological advancement in areas such as computing, sensing, and communication, and due to advantages offered by these vehicles in terms of safe and economic operations. Due to the drive to keep cost of MAVs low, or lack of available technology and accurate sensors, exact measurement of pertinent signals and states of these kinds of nonlinear systems is not always possible. This necessitates the development of algorithmic tools such as observers that can be used to enhance the performance of sensors and measurement devices. The more complex a control system becomes, the more difficult it becomes to measure the states of the system accurately, which inherently makes the development of observers more challenging. In this paper, state observer and control system desi...

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