Attitude and heading control of an autonomous flying robot

This paper detail the developments of a flying robot based on a radio controlled helicopter. The designed goal is to have a flying robot to maintain its attitude and heading that are commanded from the operator. The focus of this paper is on the development of a simple multiloop SISO attitude and heading controllers for control the highly nonlinear plant such as this small-sized helicopter for closed loop system identification in the future. The flight experiments are also presented at the end of this paper to show the results of the control algorithm.