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.
Modelling and hovering control of a novel multi-tandem ducted fan vehicle
2015-06-01
649343 byte
Conference paper
Electronic Resource
English
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