Development of control system for an unmanned single tilt tri-rotor aerial vehicle

摘要

This paper outlines the mechanical design, hardware, measurement system and control system architecture with particular emphasis on the practical aspects of the control implementation for an unmanned aerial vehicle type trirotor. The main investigated area is the attitude control system. Various practical implementations of PID controller were studied, including algorithms with modified loop structures and cascade systems. Furthermore, an embedded microcontroller-based navigation and control system is proposed to provide efficient angular stabilization and stable hover during the different flight conditions. The design, analysis and the validation tests have been undertaken on the experimental aerial platform.