MODELING AND STABILIZATION ANALYSES OF A MICRO-UNMANNED AERIAL VEHICLE SYSTEM USING A MODIFIED RADIO CONTROLLED-BASED HELICOPTER

📄 Project Abstract

This work is aimed at modeling and carrying out state space analysis of a micro-UAV (unmanned aerial vehicle) which is based on a modified radio controlled (RC) coaxial helicopter. The modification involved incorporating payload such as: GPS (global positioning system) module, Arduino microcontroller board and the Arduino Wi-Fi shield. The modeling involved the development of a non-linear rigid body model on the basis of resolving forces and moments that act on the micro-UAV using Euler-Newton formulation. In order to carry out the state space analysis of controllability and observability, the non-linear model was linearized using the small perturbation method. The desired performance specifications are: damping ratio 0.6 1, peak overshoot 5% p M and the system should be asymptotically stable. The micro-UAV model was shown to be controllable and observable even though asymptotically unstable due to the presence of positive real roots (eigenvalues on the right hand of the s-plane, R...