Dynamic modelling and control of a vectored thrust aerial vehicle

Author

Wei Yuan ; Katupitiya, Jayantha

Author_Institution

Sch. of Mech. & Manuf. Eng., Univ. of New South Wales, Sydney, NSW, Australia

fYear

2013

fDate

9-12 July 2013

Firstpage

1361

Lastpage

1366

Abstract

This paper presents the modelling and control of a ducted fan UAV platform powered by three ducted fans. The primary aim is to develop a highly reliable navigation platform with spacious payload bay. The chosen configuration also provides forward flight with minimum pitch variation. A complete non-linear dynamic model is developed. Taking advantage of the redundancy of the control inputs, a novel control scheme is designed to control the position and attitude based on the structured H_∞ synthesis. A way-point navigation level is utilised to carry out “turn-and-cruise” flight in order to follow the given way-points. The performance of the overall control law tested with the nonlinear vehicle model is presented to show the operational capabilities of the vehicle.

Keywords

H² control; attitude control; autonomous aerial vehicles; control system synthesis; ducts; fans; nonlinear dynamical systems; position control; redundancy; attitude control; control input redundancy; control scheme design; ducted fan UAV platform control; ducted fan UAV platform modelling; forward flight; highly reliable navigation platform; minimum pitch variation; nonlinear dynamic model; nonlinear vehicle model; operational capabilities; position control; spacious payload bay; structured H_∞ synthesis; turn-and-cruise flight; way-point navigation level; Aerodynamics; Ducts; Engines; Fans; Vectors; Vehicle dynamics; Vehicles; structured H∞ synthesis; vectored thrust aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on

Conference_Location

Wollongong, NSW

ISSN

2159-6247

Print_ISBN

978-1-4673-5319-9

Type

conf

DOI

10.1109/AIM.2013.6584284

Filename

6584284