Abstract
In this paper, we present the systematic design and implementation of quick prototype design and hardware-in-the-loop real-time test of the embedded control system of Unmanned Rotorcraft. The control law is of backstepping type, the sensory system consists of a marker-based vision system outside the helicopter in radio connection with the embedded controller and a 3D inertial measurement unit (IMU) on the helicopter. Extended Kalman filters solve the state estimation problem. Brushless DC motors serve as actuators. For quick prototype design of the embedded controller MATLAB, Simulink, Real-Time Workshop and the MPC555 Target Compiler were used. More specifically, the onboard hardware system is designed to fulfill the image processing requirements by using the commercial off-the-shelf products. Real-time vision software is developed, which is running on the real-time operating system QNX.
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