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This work proposes a systematic framework for modelling and controller designof a Commercial-Off-The Shelf (COTS) unmanned rotorcraft using control theoryand principles, for brick wall construction. With point to point navigation asthe primary application, command velocities in the three axes of the UnmannedAerial Vehicle (UAV) are considered as inputs of the system while its actualvelocities are system outputs. Using the sine and step response data acquiredfrom a Hardware-in-Loop (HiL) test simulator, the considered system wasmodelled in individual axes with the help of the proposed framework. This modelwas employed for controller design where a sliding mode controller was chosento satisfy certain requirements of the application like robustness, flexibilityand accuracy. The model was validated using step response data and produced adeviation of only 9%. Finally, the controller results from field test showedfine control up to 8 cms accuracy. Sliding Mode Control (SMC) was also comparedwith a linear controller derived from iterative experimentations and seen toperform better than the latter in terms of accuracy, and robustness toparametric variations and wind disturbances.

Model Based Control of Commercial-Off-TheShelf (COTS) Unmanned Rotorcraft for BrickWall Construction