Rotorcraft dynamics model identification and hovering motion control simulation

In this paper, the rotorcraft dynamics is derived and a linearized hovering model is transformed into a state-space form. It is difficult to obtain parameters for stability derivatives in the state-space directly, a linear control model is derived by a time-domain parametric system identification method with real flight data of a scaled rotorcraft model. Then, two different controllers, a linear feedback controller with the proportional gain and a robust controller, are designed and their performances are compared. The validated controllers can be applied to enable autonomous flight.