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Robust Control Design for Quad Tilt-Wing UAV
| Content Provider | Directory of Open Access Journals (DOAJ) |
|---|---|
| Author | Kai Masuda Kenji Uchiyama |
| 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. |
| Related Links | http://www.mdpi.com/2226-4310/5/1/17 |
| e-ISSN | 22264310 |
| DOI | 10.3390/aerospace5010017 |
| Journal | Aerospace |
| Issue Number | 1 |
| Volume Number | 5 |
| Language | English |
| Publisher | MDPI AG |
| Publisher Date | 2018-01-01 |
| Publisher Place | Switzerland |
| Access Restriction | Open |
| Subject Keyword | Motor vehicles. Aeronautics. Astronautics Quad Tilt-wing Uav Transition Flight Dynamic Inversion Method H-infinity Controller Disturbance Accommodating Control |
| Content Type | Text |
| Resource Type | Article |
