Title :
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
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);
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
DOI :
10.1109/EMEIT.2011.6022908
