Flight control system of a robotic portable unmanned aerial vehicle

摘要

Portable fixed-wing Unmanned Aerial Vehicles (PUAV) present enormous potential. In order to develop a robotic PUAV with significant levels of autonomy, the flight control system is studied. The platform is introduced and dynamics model is studied firstly. Then the infrastructure hardware and the architecture of the flight control system are detailed. As the core of the flight control system, the attitude controller using variable fuzzy controller is investigated, and a bilinear interpolation approach is presented to realize quick inference with low computation cost of the embedded micro processor. The flight simulation and experiment validates the performance of the flight control system of PUAV.