Title :
Modelling and hovering control of a novel multi-tandem ducted fan vehicle
Author :
Bin Xu ; Xiaoliang Wang ; Changle Xiang ; Yue Ma ; Wanming Chen
Author_Institution :
Vehicle Res. Center, Beijing Inst. of Technol., Beijing, China
Abstract :
This paper focuses on modeling and robust hover control system design for a novel multi-tandem ducted fan vehicle. A comprehensive nonlinear model for this unmanned aircraft, considering main aerodynamic coupling and actuator dynamics, is first presented. For the sake of low order controllers, the two-layer controller structure with only three-order controllers, is adopted to construct a flight control system for hover condition. Then a rigorous procedure using H∞ static output feedback techniques is proposed in order to obtain desired controllers. The frequency analysis and nonlinear time-domain simulation in the presence of disturbances show the guaranteed robustness, excellent decoupling features, and good speed of response.
Keywords :
H∞ control; actuators; aerodynamics; aircraft control; control system synthesis; feedback; frequency-domain analysis; helicopters; nonlinear control systems; robust control; time-domain analysis; H∞ static output feedback techniques; actuator dynamics; aerodynamic coupling; decoupling features; flight control system; frequency analysis; hover condition; hovering control; low order controllers; multitandem ducted fan vehicle; nonlinear model; nonlinear time-domain simulation; robust hover control system design; three-order controllers; two-layer controller structure; unmanned aircraft; Actuators; Aerodynamics; Ducts; Mathematical model; Rotors; Vehicle dynamics; Vehicles;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4799-6009-5
DOI :
10.1109/ICUAS.2015.7152429
