This work proposes a systematic framework for modelling and controller design of a Commercial-Off-The Shelf (COTS) unmanned rotorcraft using control theory and principles, for brick wall construction. With point to point navigation as the primary application, command velocities in the three axes of the Unmanned Aerial Vehicle (UAV) are considered as inputs of the system while its actual velocities are system outputs. Using the sine and step response data acquired from a Hardware-in-Loop (HiL) test simulator, the considered system was modelled in individual axes with the help of the proposed framework. This model was employed for controller design where a sliding mode controller was chosen to satisfy certain requirements of the application like robustness, flexibility and accuracy. The model was validated using step response data and produced a deviation of only 9%. Finally, the controller results from field test showed fine control up to 8 cms accuracy. Sliding Mode Control (SMC) was also compared with a linear controller derived from iterative experimentations and seen to perform better than the latter in terms of accuracy, and robustness to parametric variations and wind disturbances.

翻译：这项工作提议了一个系统框架,用于利用控制理论和原则模拟和控制设计用于砖墙建筑的“商业关闭”无人驾驶旋转器。将导航作为主要应用点,无人驾驶飞行器(无人驾驶飞行器)三轴的指令速度被视为系统的投入,而其实际速度是系统产出。利用从硬盘在Loop(HIL)测试模拟器获得的正弦和步响应数据,在拟议框架的帮助下,考虑的系统以单个轴为模型。这一模型用于控制器设计,选择滑动模式控制器以满足应用程序的某些要求,例如坚固、灵活和准确性。该模型使用步骤响应数据验证,只产生9%的偏差。最后,实地测试的控制结果显示精密控制,达到8厘米的精确度。Sliding模式控制(SMC)与从迭代试验中得出的线性控制器进行了比较,在准确性方面比后者要好,并显示对参数变化和风震扰的稳性。