The Caltech Helicopter Control Experiment

. This report describes the Caltech helicopter control experiment. The experiment consists of an electric model helicopter interfaced to and controlled by a PC. We describe the hardware and software. A state-space model for the angular position is identified from experimental data near hover, using the prediction error method. An LQR controller with integrators for set point tracking is designed for the system. We also undertake a separate identification and loop shaping control for the yaw dynamics. 1. Introduction This report describes the model helicopter experiment at the California Institute of Technology. The purpose of this report is to document our experience with the experiment, to facilitate the use in future projects. The Caltech model helicopter is a testbed for advanced linear and nonlinear control methodologies. Our primary objective is not to get a completely autonomous aerial vehicle, but rather study the control issues involved in this endeavor. We describe the hardwa..