Modularized modeling and inversed dynamics control design for a lift-fan UAV in hover

Author

Yizhe Zhang ; Junyi Zuo ; Bingrong Zhang

Author_Institution

Sch. of Aeronaut., Northwestern Polytech. Univ., Xi´an, China

fYear

2013

fDate

26-28 Aug. 2013

Firstpage

570

Lastpage

575

Abstract

The concept of modularization is introduced in modeling and control design procedure for a lift-fan UAV which exhibits different character in different configuration. The characteristic of lift fans and its vanes are studied through an experiment system, and the 6-DOF nonlinear dynamic model for hove is derived as several modules. Control system is also divided into several modules with each module being designed as inversed system of corresponding module of UAV dynamics, so that the closed loop system becomes a set of simple kinematics equations. The use of the concept of modularization can greatly simplify the modeling procedure and made the design of control law very easy and straightforward. The effectiveness of the resulting model and control law for attitude and position control was verified by digital simulation.

Keywords

attitude control; autonomous aerial vehicles; blades; closed loop systems; control system synthesis; hovercraft; nonlinear dynamical systems; position control; vehicle dynamics; 6-DOF nonlinear dynamic model; UAV dynamics; attitude control; closed loop system; control design procedure; control law design; control system; digital simulation; hover; inversed dynamics control design; inversed system; kinematics equations; lift-fan UAV; modularized modeling; position control; vanes; Aerodynamics; Aircraft; Atmospheric modeling; Blades; Kinetic theory; Mathematical model; Vehicle dynamics; Dynamics Inversion; Lift-fan UAV; Modularization; Nonlinear control law design;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2013 IEEE International Conference on

Conference_Location

Yinchuan

Type

conf

DOI

10.1109/ICInfA.2013.6720362

Filename

6720362