{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:40:40Z","timestamp":1777927240089,"version":"3.51.4"},"reference-count":42,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2019,8,27]],"date-time":"2019-08-27T00:00:00Z","timestamp":1566864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2020,5]]},"abstract":"<jats:p>In recent years, unmanned aerial systems have attracted great attention due to the electronic systems technology advancements. Among these vehicles, unmanned helicopters are more important because of their special abilities and superior performance. The complex nonlinear dynamic system (caused by main rotor flapping dynamics coupled with the rigid body rotational motion) and considerable effects of ambient disturbance make their utilization hard in actual missions. Attitude dynamics have the main role in helicopter stabilization, so implementing proper control system for attitude is an important issue for unmanned helicopter hovering and trajectory tracking performance. Besides this, experimental utilization of low-cost flight control system for unmanned helicopters is still a challenging task. In this article, dynamic modeling, system identification, and robust control system implementation of roll and pitch dynamics of an unmanned helicopter is performed. A TRex-600E radio-controlled helicopter is equipped with a novel low-cost flight control system designed and constructed based on Raspberry Pi Linux-based microcomputer. Using Raspberry Pi makes this platform simpler to utilize and more time and cost-effective than similar platforms used before. The experiments are performed on a 5-degree-of-freedom testbed. The robust control system is designed based on [Formula: see text] method and is evaluated in real flight tests. The experiment results show that the proposed platform has the ability to successfully control the roll and pitch dynamics of the unmanned helicopter.<\/jats:p>","DOI":"10.1177\/0959651819869718","type":"journal-article","created":{"date-parts":[[2019,8,27]],"date-time":"2019-08-27T03:06:32Z","timestamp":1566875192000},"page":"634-645","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":10,"title":["System identification and robust attitude control of an unmanned helicopter using novel low-cost flight control system"],"prefix":"10.1177","volume":"234","author":[{"given":"Mohammad Hossein","family":"Khalesi","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0604-5731","authenticated-orcid":false,"given":"Hassan","family":"Salarieh","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mahmoud","family":"Saadat Foumani","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,8,27]]},"reference":[{"key":"bibr1-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-85729-635-1"},{"key":"bibr2-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0143-5"},{"key":"bibr3-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20414"},{"key":"bibr4-0959651819869718","volume-title":"Proceedings of the Chinese control and decision conference (CCDC)","author":"Zheng J"},{"key":"bibr5-0959651819869718","volume-title":"Proceedings of the 11th Asian control conference (ASCC)","author":"Yang H"},{"key":"bibr6-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)AS.1943-5525.0000068"},{"key":"bibr7-0959651819869718","volume-title":"Proceedings of the international WIE conference on electrical and computer engineering (WIECON-ECE)","author":"Roy TK"},{"key":"bibr8-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1016\/j.cja.2018.08.007"},{"key":"bibr9-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/9897684"},{"key":"bibr10-0959651819869718","first-page":"8410360","volume":"2018","author":"Li R","year":"2018","journal-title":"Math Probl Eng"},{"key":"bibr11-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1177\/0954410018755807"},{"key":"bibr12-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2386801"},{"key":"bibr13-0959651819869718","doi-asserted-by":"publisher","DOI":"10.3182\/20140824-6-ZA-1003.00453"},{"key":"bibr14-0959651819869718","volume-title":"Proceedings of the international conference on automation and logistics (ICAL)","author":"Cai G"},{"key":"bibr15-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1177\/0959651817708488"},{"key":"bibr16-0959651819869718","volume-title":"Helicopter flight dynamics: the theory and application of flying qualities and simulation modeling","author":"Padfield GD","year":"2008"},{"key":"bibr17-0959651819869718","volume-title":"Bramwell\u2019s helicopter dynamics","author":"Bramwell ARS","year":"2001"},{"key":"bibr18-0959651819869718","doi-asserted-by":"publisher","DOI":"10.2514\/4.862083"},{"key":"bibr19-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-1563-3"},{"key":"bibr20-0959651819869718","volume-title":"Autonomous aerobatic maneuvering of miniature helicopters","author":"Gavrilets V","year":"2003"},{"key":"bibr21-0959651819869718","volume-title":"Linear and nonlinear control of small-scale unmanned helicopters","volume":"45","author":"Raptis IA","year":"2010"},{"key":"bibr22-0959651819869718","volume-title":"Designing an autonomous helicopter testbed: from conception through implementation","author":"Garcia RD","year":"2008"},{"key":"bibr23-0959651819869718","volume-title":"Instrumentation design, system identification, and LQR-LQG control of a small scale helicopter","author":"Gonzalez AM","year":"2014"},{"key":"bibr24-0959651819869718","volume-title":"Control-oriented modeling and system identification for nonlinear trajectory tracking control of a small-scale unmanned helicopter","author":"Pourrezaei Khaligh S","year":"2014"},{"key":"bibr25-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.01.003"},{"key":"bibr26-0959651819869718","volume-title":"Proceedings of the 9th international conference on control, automation, robotics and vision (ICARCV)","author":"Garratt M"},{"key":"bibr27-0959651819869718","volume-title":"Identification modeling and characteristics of miniature rotorcraft","author":"Mettler B","year":"2013"},{"key":"bibr28-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1007\/978-4-431-53856-1"},{"key":"bibr29-0959651819869718","volume-title":"Experimental nonlinear control of a helicopter unmanned aerial vehicle (UAV)","author":"Godbolt B","year":"2013"},{"key":"bibr30-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1108\/00022661011104510"},{"key":"bibr31-0959651819869718","unstructured":"Wikipedia. Raspberry Pi, https:\/\/en.wikipedia.org\/wiki\/Raspberry_Pi"},{"key":"bibr32-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1007\/s40997-019-00288-x"},{"key":"bibr33-0959651819869718","unstructured":"Atmel Inc. ATxmega128A1 \/ ATxmega64A1 datasheet (8067O\u2013AVR\u201306\/2013), http:\/\/ww1.microchip.com\/downloads\/en\/DeviceDoc\/Atmel-8067-8-and-16-bit-AVR-Microcontrollers-ATxmega64A1-ATxmega128A1_Datasheet.pdf"},{"key":"bibr34-0959651819869718","doi-asserted-by":"publisher","DOI":"10.14711\/thesis-b1136757"},{"key":"bibr35-0959651819869718","volume-title":"Proceedings of the 32nd Chinese control conference (CCC)","author":"Guo J"},{"key":"bibr36-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-010-0306-5"},{"key":"bibr37-0959651819869718","volume-title":"Modeling, identification, and control of autonomous helicopters","author":"Tanner O","year":"2003"},{"key":"bibr38-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9272-z"},{"key":"bibr39-0959651819869718","volume-title":"Modelling and control of small-scale helicopter on a test platform","author":"Lai GM","year":"2008"},{"key":"bibr40-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2013.12.004"},{"key":"bibr41-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9862-2"},{"key":"bibr42-0959651819869718","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2014.2371921"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651819869718","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651819869718","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651819869718","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:38:36Z","timestamp":1777675116000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651819869718"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,8,27]]},"references-count":42,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["10.1177\/0959651819869718"],"URL":"https:\/\/doi.org\/10.1177\/0959651819869718","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,8,27]]}}}