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Attitude Control of a Tail-sitter UAV with a Ducted Fan in Transition Phase Using the Robust Control Approach

Valian, Saeed | 2019

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 52144 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi; Mohammadzaman, Iman
  7. Abstract:
  8. The purpose of this thesis is to control the attitude of a tail-sitter UAV in transition phase (from hover to cruise and vice versa). This UAV has a pusher shrouded fan propulsive. Due to the fact that in transition phase the dynamic model of the UAV is associated with a significant uncertainties and the stability is more important than the performance, robust controller has been used. The propulsion part of the tail-sitter UAV can be assumed as a separate ducted fan UAV. In the first step both UAVs have been designed. then, in order to have an accurate model of UAV, the dynamics of actuators, including the engine and servo motor, has been identified. Then, modeling and verification for both UAVs have been done in simulink. In the next step, to design a linear robust controller, the nonlinear model of UAVs has been linearized around equilibrium points and linearization has been also verified. The robust controller has been designed by H∞ method in three cases for ducted fan UAV in hover flight: SISO controller for yaw, MIMO controller for attitude (three-input three-output) and MIMO controller for attitude and height (four-input four-output). Also, a H∞ robust controller is designed for the tail-sitter UAV in transition phase which can be used in hover and cruise phases either. Finally, results of controller performance is presented in presence of uncertainties in nonlinear model and disturbances
  9. Keywords:
  10. Ducted Fan Unmanned Aerial Vehicles (UAV) ; Tail-Sitter Aircraft ; Attitude Control ; Robust Control ; Transition Phase ; Unmanned Aerial Vehicles (UAV)

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