Digital controller for attitude control of a rotary-winged flying robot in hover

Abstract

This paper presents the design of digital controller for attitude control of a rotary-winged flying robot in hover. It describes the best digital implementation of continuous compensation from linear SISO controller to control the nonlinear dynamics of the aerial robot. Results with limits are given for attitude correction against reference attitudes, set for maintaining the hover. Experiments are carried out on Bergen Turbine Observer model, equipped with a NAV420CA INS and mounted on a test rig with bending flexibility in all axes.