Volume 5 Number 7 (Jul. 2010)
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JSW 2010 Vol.5(7): 753-760 ISSN: 1796-217X
doi: 10.4304/jsw.5.7.753-760

Robust Model for the Design of Controller in Saucer UAV

Shihua Wang1, Jianliang Ai2, Weihui Dai2, Yuanwei Li2
1Department of Mechanics & Engineering Science, Fudan University
2Fudan University, Fudan University, Harbin Institute of technology

Abstract—The saucer UAV (Unmanned Aerial Vehicle) features both helicopter and traditional fixed-wing airplane, is capable of hovering, takeoff and landing vertically. The configuration of the UAV in this paper which is comprised of a propeller and there pairs of control vanes enclosed in the duct is new-style aircraft. In order to research the attitude control of the saucer UAV, this paper mainly focuses on the dynamic analysis and control model design of the vehicle. The dynamics of all the components of the UAV configuration is analyzed respectively first and then the complete nonlinear model is constructed from the forces and moments analysis of the vehicle. The model is simplified in the flight node of hovering. After that a robust model based on H2 H∞ is designed to handle the parameter uncertainty and disturbance while in the hovering condition, and the simulation results are presented at last. Simulated results show the controller designed can guarantee the saucer UAV has good stable feature for operation and certain robustness.

Index Terms—saucer unmanned aerial vehicle (UAV); modeling; H2 H∞ theory; flight mechanics; flight simulation.

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Cite: Shihua Wang, Jianliang Ai, Weihui Dai, Yuanwei Li, "Robust Model for the Design of Controller in Saucer UAV," Journal of Software vol. 5, no. 7, pp. 753-760, 2010.

General Information

ISSN: 1796-217X (Online)
Frequency:  Bimonthly (Since 2020)
Editor-in-Chief: Prof. Antanas Verikas
Executive Editor: Ms. Yoyo Y. Zhou
Abstracting/ Indexing: DBLP, EBSCO, Google Scholar, ProQuest, INSPEC(IET), ULRICH's Periodicals Directory, WorldCat, etc
E-mail: jsw@iap.org
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