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Instrumentation Design, System Identification, and LQR/LQG Control of a Small Scale Helicopter

  • Author / Creator
    Martinez-Gonzalez, Alejandro
  • The interest of Unmanned Aerial Vehicles (UAV) for civil application has increased dramatically in recent years. With improvement in computer hardware, lightweight sensors, and light material, the cost of UAVs has reduced significantly. UAVs with vertical takeoff and landing capabilities have been the focus of much development. A mathematical model for a scale RC helicopter including the rotor dynamics is presented in this work. The main rotor lift slope CL, the main rotor aerodynamic drag coefficient CDo, and the moments of inertia about the center of gravity are determined by the use of two sets of HIL testbeds. The avionics instrumentation, communication protocol and Ground Station system are described in detail. Finally, the model linearization and the LQR/LQG compensator in output feedback configuration with reference inputs are presented. Simulation results show that the proposed compensator stabilized and control the linearized dynamic of the helicopter.

  • Subjects / Keywords
  • Graduation date
    2014-11
  • Type of Item
    Thesis
  • Degree
    Master of Science
  • DOI
    https://doi.org/10.7939/R36T0H330
  • License
    This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.
  • Language
    English
  • Institution
    University of Alberta
  • Degree level
    Master's
  • Department
    • Department of Mechanical Engineering
  • Supervisor / co-supervisor and their department(s)
    • Koch, C. R. (Department of Mechanical Engineering, University of Alberta)
    • Fahimi, Farbod (Department of Mechanical Engineering, University of Alabama, Huntsville)
  • Examining committee members and their departments
    • Raboud, Donald (Department of Mechanical Engineering, University of Alberta)
    • Koch, C. R. (Department of Mechanical Engineering, University of Alberta)
    • Fahimi, Farbod (Department of Mechanical Engineering, University of Alabama, Huntsville)