Identification Modeling and Characteristics of Miniature Rotorcraft

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This volume introduces an approach to developing a simple and effective linear parameterized model of vehicle dynamics using the CIFERa identification tool created by the Army/NASA Rotorcraft Division. It also presents the first application of the advanced control system optimization tool CONDUITa to systematically and efficiently tune control laws for a model-scale UAV helicopter against multiple and competing dynamic response criteria. The text presents the detailed account of how the theory was developed, the experimentation performed, and how the results were used. It should serve as a basic and illustrative guide for all students that are interested in developing autonomous flying helicopters.