Attitude Control of a Tail-sitter UAV with a Ducted Fan in Transition Phase Using the Robust Control Approach, M.Sc. Thesis Sharif University of Technology ; Nobahari, Hadi (Supervisor) ; Mohammadzaman, Iman (Supervisor)
Abstract
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...
Cataloging briefAttitude Control of a Tail-sitter UAV with a Ducted Fan in Transition Phase Using the Robust Control Approach, M.Sc. Thesis Sharif University of Technology ; Nobahari, Hadi (Supervisor) ; Mohammadzaman, Iman (Supervisor)
Abstract
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...
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