System Design Methodology and Implementation of Micro Aerial Vehicles

This thesis studies the comprehensive design and implementation process of micro aerial vehicle (MAV) systems, which are suitable for indoor missions such as search and rescue, and surveillance. The proposed MAVs seek a breakthrough in the current unmanned aircraft market, by having the ability of full mission autonomous control, from waypoints trajectory optimization to position control and aircraft auto-stabilization, while maintaining a full systems take-off weight of not more than 50 g, in a tiny 10 by 10 by 2.5 cm package. The thesis details the design process of such MAVs, which include aircraft structure and electronics circuit design, aircraft dynamics modeling, flight control systems design, trajectory generating on minimum jerk optimization, and the implementation of the proposed platforms to verify the design guides. Full autonomous flights were performed and successfully demonstrated.

Author dc:creator

• PHANG SWEE KING

• micro air vehicle, unmanned aerial vehicle, flight control, fuselage design, aircraft dynamic modeling, trajectory optimization