Design and Implementation of a Control and Navigation System for a Small Unmanned Aerial Vehicle

摘要

Abstract: This paper describes the development of a control and navigation system for a small scale unmanned aerial vehicle (UAV) using as strategy a combination of classical control and Fuzzy Inference Systems (FIS). In this sense, the air-plane has been modelled through analytical techniques that use empirical estimations to compute the force and moment components acting on the aircraft. The control systems were designed using the aircraft's transfer functions to reach a desirable response for each command. Finally, the navigation control system is designed using a FIS to control the roll of the aircraft and the yaw control system to control the aircraft's heading. A route composed of waypoints is generated following a rummage of a selected area. The control systems are, then, tested in a simulated environment to ensure they accomplish the desired mission when they work together.