Dynamic modelling and control of a vectored thrust aerial vehicle
Yuan W; Katupitiya J, 2013, 'Dynamic modelling and control of a vectored thrust aerial vehicle', 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, pp. 1361 - 1366, Australia
Abstract / Description
This paper presents the modelling and control of a ducted fan UAV platform powered by three ducted fans. The primary aim is to develop a highly reliable navigation platform with spacious payload bay. The chosen configuration also provides forward flight with minimum pitch variation. A complete non-linear dynamic model is developed. Taking advantage of the redundancy of the control inputs, a novel control scheme is designed to control the position and attitude based on the structured H∞ synthesis. A way-point navigation level is utilised to carry out `turn-and-cruise` flight in order to follow the given way-points. The performance of the overall control law tested with the nonlinear vehicle model is presented to show the operational capabilities of the vehicle. © 2013 IEEE.