• flight control
• linearization
• validation

University of Pisa is performing a research finalized to develop Rotary Unmanned Aerial Vehicles (RUAV) starting from a small commercial RC helicopters.
These vehicles will be capable to perform planned missions in autonomous or automatic flight, including the take-off and landing phase, also thanks to sense and avoid system capabilities. At the moment the activities are focused on a small helicopter, T_REX 500 ESP equipped with a GPS, inertial sensor and a data acquisition system, avaiable at the department.
In the first part of this work, a non-linear open-loop analytic model of the rotor craft (developed and identificated in a previous thesis at the department)will be modified and linerized. The procedure of linearization is based on a Matlab automatic tool which creates a linear model directly from the non-linear one.
In the second part of this work the control laws will be evaluated and compared with the corresponding laws created for a model based on the aerodynamic derivatives (developed in a previous thesis)in order to understand better the dynamic of the helicopter.
As a final validation the control laws will be implemented on the non linear model to verify the stability and the beahaviour of the T-Rex 500 after inputs in velocity (capability to reach a new condition of trim).