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Modeling and Optimal Control of Hybrid UAVs with Wind Disturbance

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Document pages: 7 pages

Abstract: This paper addresses modeling and control of a six-degree-of-freedom unmannedaerial vehicle capable of vertical take-off and landing in the presence of winddisturbances. We design a hybrid vehicle that combines the benefits of both thefixed-wing and the rotary-wing UAVs. A non-linear model for the hybrid vehicleis rapidly built, combining rigid body dynamics, aerodynamics of wing, anddynamics of the motor and propeller. Further, we design an H2 optimalcontroller to make the UAV robust to wind disturbances. We compare its resultsagainst that of PID and LQR-based control. Our proposed controller results inbetter performance in terms of root mean squared errors and time responsesduring two scenarios: hover and level-flight.

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