Robust Hover-flight Control Design for a Tail-sitter UAV with Ducted-fan Propulsion

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طراحی کنترل کننده مقاوم برای پهپاد دم نشین با پیشران ملخی در فاز پرواز ایستا

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 42166 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Saghafi, Faribourz
Abstract:
In this thesis, the theory of robust control is applied to design a controller for hover flight of a tail-sitter unmanned aerial vehicle with 2 ducted-fan propulsion. The control surface deflection (in propeller slipstream) is considered as the input controller of the system. The aircraft dynamical model is developed based on the assumption of no aerodynamic loads on other parts of uav in low speed flight associated with the hovering condition. The controller is primarily designed using both classical and modern control techniques. Then H ∞ and µ synthesis approaches are applied to design the robust controller. The results obtained from different approaches are compared. It is shown that the robust controller techniques are more stable and robust against uncertainties and servo saturation than the other techniques in this application
Keywords:
Robust Control ; Hover Flight ; Unmanned Aircrafts ; Tail-Sitter Aircraft

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