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Aerospace 2018, 5(1), 17; https://doi.org/10.3390/aerospace5010017

Robust Control Design for Quad Tilt-Wing UAV

Department of Aerospace Engineering, Nihon University, Chiba 274-8501, Japan
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Received: 8 December 2017 / Revised: 30 January 2018 / Accepted: 2 February 2018 / Published: 7 February 2018
(This article belongs to the Special Issue Aircraft Dynamics & Control)

Abstract

This paper describes the design method of a flight control system of a Quad Tilt-Wing (QTW) Unmanned Aerial Vehicle (UAV). A QTW-UAV is necessary to design a controller considering its nonlinear dynamics because of the appearance of the nonlinearity during transition flight between hovering and level flight. A design method of a flight control system using Dynamic Inversion (DI) that is one of linearization method has been proposed for the UAV. However, the design method based on an accurate model has a possibility of deterioration of control performance and system stability. Therefore, we propose a flight control system that considers uncertainties such as modeling error and disturbances by applying an H-infinity controller to the linearized system. The validity of the proposed control system is verified through numerical simulation and experiment. View Full-Text
Keywords: Quad Tilt-Wing UAV; transition flight; dynamic inversion method; H-infinity controller; disturbance accommodating control Quad Tilt-Wing UAV; transition flight; dynamic inversion method; H-infinity controller; disturbance accommodating control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Masuda, K.; Uchiyama, K. Robust Control Design for Quad Tilt-Wing UAV. Aerospace 2018, 5, 17.

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