Autonomous Control of Ultra Small-Scale Single Rotor Helicopter for Indoor and Outdoor

Abstract

This paper presents the autonomous control of ultra small-scale unmanned helicopter named SRB Quark SG. Firstly, we design the control devices. Secondly, we describe the attitude model of SRB Quark SG which is derived by the black box modeling using Multi Input Multi Output mathematical model and the attitude controller which is designed by LQI control method. Finally, we show the flight experiment result, and the performance of the attitude controller.