Abstract
This paper present the design and implementation of a dual-redundant flight control system for a miniature autonomous helicopter, named SRD-Heli. The systematic design procedure includes hardware integration, flight control law, exchange scheme, as well as experimental evaluation. A dual-redundant control architecture is adopted to construct the flight control system for the helicopter. The control architecture is composed by (1) an active flight control law designed for the active computer, which works in normal condition, (2) a standby flight control law to effectively control the helicopter by standby computer in fault condition. The result of actual flight tests shows that the flight control system is capable of achieving the desired performance.
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