摘要
This paper gives details about the controller design that aims to stabilize the novel twinrotor flying robot, Toruk. Toruk is an experimental test bench to study center of gravity steering, effect of the location of the center of gravity, controller design and implementation, etc. Physical components are also briefly discussed in this paper. Attitude dynamics of the system is inherently unstable. It is stabilized by a regulator. In addition, an observer is designed and utilized to estimate the unmeasured states. Thrust force generated by the propulsion unit is estimated by using the identified mathematical model of the unit. An experimental setup is employed to identify the mathematical model that expresses the relation between the applied input voltage to the propulsion unit and thrust produced by the propeller. Mathematical model for the attitude dynamics of Toruk is built. Then controllability and observability analysis are carried out for the system. Dynamic compensator composed of a state observer and a regulator, is designed on the mathematical model. Physical implementation on the system will be performed.
