Design And Implementation of the Flight Controller For Take-Off and Landing of a Ducted-Fan Uav Using Linear Quadratic Differential Game Regulator

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طراحی و پیاده سازی کنترل کننده یک پهپاد از نوع فن محصور در فاز نشست و برخاست با استفاده از روش تنظیم کننده مربعی خطی مبتنی بر تئوری بازی دیفرانسیلی

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 56485 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Nobahari, Hadi
Abstract:
The purpose of this thesis is to design and implement a controller for a Ducted-Fan in the landing and take-off phase using a linear quadratic tuning method based on differential game theory. This is a control method with a robust control approach and tries to see all the disturbances and unmodulated dynamics in the form of the second actor and produce a control command according to the worst behavior of the second actor. For this purpose, 6 DOF Ducted-Fan have been modeled. then The proposed controller is designed for a linearized model around the hover point. In the next step, the performance of the proposed controller is compared with the SlidingMode Controller. Also, the parameters of these two controllers are adjusted using the TCACS optimization algorithm. In the following, the performance of these two controllers in the take-off and landing scenario is investigated in the Simulink. Finally, the performance of the proposed controller is investigated using hardware in the loop and practical tests
Keywords:
Ducted Fan Unmanned Aerial Vehicles (UAV) ; Takeoff ; Robust Control ; Linear Quadratic Requlator (LQR) ; Differential Game ; Vertical Take-Off and Landing (VtOL) ; Electric Vertical Takeoff and Landing Aircraft (EVTOL)

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