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《Electric Machines and Control》 2010-09
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Robust control system design for a aducted fan unmanned aerial vehicle

LI Yuan-wei,WANG Chang-hong,YI Guo-xing,XI Bo-qi (Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150080,China)  
The flight attitude control system for the small size ducted fan unmanned aerial vehicle (UAV) is presented.Firstly,the mathematic model for the UAV is constructed from the forces and moments analysis of the vehicle,and the derived nonlinear model is linearized in the hovering flight condition.Then the robust flight attitude controller based on this linear model is designed to deal with the parameter uncertainty and external disturbance which is due to the compact configuration.The validity of the controller is verified by the simulation results,and also the controller is applied in the flight testing.The results show that the vehicle with the controller has a good performance of operation stability.
【Fund】: 国防预研资助项目(51309030102)
【CateGory Index】: V249.1
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