Abstract
This paper describes the design method of a flight control system of a Quad Tilt-Wing (QTW) Unmanned Aerial Vehicle (UAV). A QTW-UAV is necessary to design a controller considering its nonlinear dynamics because of the appearance of the nonlinearity during transition flight between hovering and level flight. A design method of a flight control system using Dynamic Inversion (DI) that is one of linearization method has been proposed for the UAV. However, the design method based on an accurate model has a possibility of deterioration of control performance and system stability. Therefore, we propose a flight control system that considers uncertainties such as modeling error and disturbances by applying an H-infinity controller to the linearized system. The validity of the proposed control system is verified through numerical simulation and experiment.
Highlights
Unmanned Aerial Vehicles (UAVs) are expected to be used as a tool for various missions including search, observation, inspection, mapping, and rescue in the event of a disaster [1,2]
We proposed a flight control system for a Quad Tilt-Wing (QTW)-UAV considering its nonlinear dynamics and
We proposed a flight control system for a QTW-UAV considering its nonlinear dynamics and disturbances
Summary
Unmanned Aerial Vehicles (UAVs) are expected to be used as a tool for various missions including search, observation, inspection, mapping, and rescue in the event of a disaster [1,2]. It is quite difficult to adjust controller gains for linearized model around equilibrium states depending on the variation of the tilt angle and velocity of the UAV. An optimal controller was designed for a Linear Parameter-Varying model whose system matrix varies with the tilt angle. It is easy to design a controller because the linear model can be obtained by using the Dynamic Inversion (DI) method. H-infinity is applied to only thetorotational compensate robust stability during a flight of the UAV. An optimal control method is rotational motion so as to have robustness against disturbance such as wind. The QTW-UAV is developed to verify the validity of the proposed flight control in its dynamics [15,16].
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