Ducted fan UAV hovering attitude control

Author

Xiao-lu Ren ; Chang-hong Wang ; Guo-xing Yi

Author_Institution

Space Control & Inertial Technol. Res. Center, Harbin Inst. of Technol., Harbin, China

Volume

1

fYear

2011

fDate

12-14 Aug. 2011

Firstpage

421

Lastpage

424

Abstract

This paper focus on the modeling and control of a small ducted fan unmanned aerial vehicle (UAV). The mathematical model of the hovering flight UAV is established from aerodynamic analysis. Then, a control method for the hovering flight was obtained, which is based on the H_∞ control theory. By this method, the closed-loop poles of the system were placed at a prescribed disk region. The simulation results show that this method can provide the robust stability as well as the good dynamic performance and anti-disturbance capacity.

Keywords

H^∞ control; aerodynamics; attitude control; closed loop systems; ducts; fans; mobile robots; remotely operated vehicles; robust control; stability; H_∞ control theory; aerodynamic analysis; antidisturbance capacity; closed-loop poles; ducted fan UAV hovering attitude control; hovering flight UAV; robust stability; unmanned aerial vehicle; Aerodynamics; Blades; Ducts; Rotors; Uncertainty; Vehicle dynamics; Vehicles; H∞ Control; Regional Pole Constraints; State Feedback; Unmaned Aerial Vehicles(UAV);

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on

Conference_Location

Harbin, Heilongjiang, China

Print_ISBN

978-1-61284-087-1

Type

conf

DOI

10.1109/EMEIT.2011.6022908

Filename

6022908