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

fYear

2015

fDate

9-12 June 2015

Firstpage

329

Lastpage

337

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2015 International Conference on

Conference_Location

Denver, CO

Print_ISBN

978-1-4799-6009-5

Type

conf

DOI

10.1109/ICUAS.2015.7152307

Filename

7152307