Identification and control of a miniature rotorcraft Unmanned Aerial Vehicle (UAV)

We present in this paper an Unmanned Aerial Vehicle(UAV) based on a miniature helicopter. The UAV platform consists of sensors that sense the movement of the helicopter, wireless communication and a PC based controller. The model identification for the yaw movement is described. Based on the identified model, an incremental PID controller was designed and implemented, with very good results.

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