Title :
Hybrid position-attitude control of DF-UAV based on generalized flight dynamics
Author :
Hongzhe Jin ; Yi Zheng ; Qingming Hou ; Jie Zhao
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
For a ducted fan unmanned aerial vehicle (DF-UAV), the aerodynamic forces comprising the aerodynamic lift and drag as well as their induced angular moments are the real physical inputs dominating the flight state. These forces originate from the motions of the duct, propeller and control surfaces. Therefore, this study considered an integrated modeling of DF-UAV and proposed a layered design method for the hybrid position-attitude controller based on the reference feedback and dynamic decoupling.
Keywords :
aerodynamics; attitude control; autonomous aerial vehicles; control system synthesis; drag; feedback; mobile robots; position control; DF-UAV integrated modeling; aerodynamic drag; aerodynamic forces; aerodynamic lift; angular moments; control surface; duct motion; ducted fan unmanned aerial vehicle; dynamic decoupling; flight state; generalized flight dynamics; hybrid position-attitude controller design; layered design method; propeller; reference feedback; Aerodynamics; Couplings; Ducts; Gravity; Propellers; Stability analysis; ducted fan; dynamic decoupling; flight dynamics; layered design; reference feedback;
Conference_Titel :
Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on
Conference_Location :
Shengyang
Print_ISBN :
978-1-4799-2564-3
DOI :
10.1109/MEC.2013.6885082
