Development of a MAV from theory to implementation

A nonlinear model of Pegase, a mini aerial vehicle, is established from the data of wind tunnel test. The interpolation of the force and moment coefficients is introduced. After that, a level straight flight linearization equation is obtained. According to this equation, based on the idea of dynamic inversion, an attitude control law is devised and verified by nonlinear simulation. Later on, the 2-D guidance loop is designed. It includes the altitude control loop and heading control loop. Then a simple attitude determination algorithm is presented. Finally we introduce our experimental setup.