Title :
Modeling and controller design of a VTOL UAV
Author :
Onen, Anil Sami ; Cevher, Levent ; Senipek, Murat ; Mutlu, Talha ; Gungor, Osman ; Uzunlar, Ismail Ozdemir ; Kurtulus, Dilek Funda ; Tekinalp, Ozan
Author_Institution :
Aerosp. Eng. Dept., Middle East Tech. Univ., Ankara, Turkey
Abstract :
A tilt rotor VTOL UAV in tri-copter configuration is developed. The vehicle is modeled using the blade element formulation for the propulsion system, and the aerodynamic properties are obtained from a 3D panel code. Linear quadratic regulators and linear quadratic tracking controllers are designed for the attitude control of the aircraft in vertical takeoff and hover flight conditions. The vehicle is built and hover flight tests are carried out. The results demonstrate the success of the modeling carried out and the controller designed.
Keywords :
aerospace propulsion; aircraft control; attitude control; autonomous aerial vehicles; control system synthesis; linear quadratic control; mobile robots; 3D panel code; aerodynamic properties; aircraft attitude control; blade element formulation; controller design; hover flight conditions; linear quadratic regulators; linear quadratic tracking controllers; propulsion system; tilt rotor VTOL UAV; tricopter configuration; vertical take-off and landing UAV; vertical takeoff conditions; Aerodynamics; Mathematical model; Propellers; Rotors; Vehicles; Wind speed;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4799-6009-5
DOI :
10.1109/ICUAS.2015.7152307
