A Robust Controller Design for a Tailless UAV with Effective Control Allocation

Released on by Ethem Hakan Orhan
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  • A Robust Controller Design for a Tailless UAV with Effective Control Allocation Book Detail

  • Author : Ethem Hakan Orhan
  • Release Date : 2020
  • Publisher :
  • Genre :
  • Pages : 147
  • ISBN 13 :
  • File Size : 14,14 MB
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A Robust Controller Design for a Tailless UAV with Effective Control Allocation by Ethem Hakan Orhan PDF Summary

Book Description: Attempts to completely remove the tails from aircraft can be dated back to the early days of modern aviation. A number of stability and control problems arising from the unique characteristics of the configuration resulted in poor handling qualities and some dangerous flight characteristics in the early designs. Lately, this configuration is becoming widespread again and the current state-of-the-art of fly-by-wire technology and modern control design techniques enable design of tailless aircraft which are safe to fly. In this thesis, a study on the application of modern robust control design techniques on a tailless UAV is presented. A nonlinear mathematical model for the aircraft is constructed and control laws are synthesized using μ-synthesis approach. Three different scheduling methods are investigated for the control laws: ad-hoc linear interpolation, synthesis using simplified linear parameter varying models and stability preserving interpolation. A control allocation module is implemented to distribute the controller commands into highly coupled control effectors in real time. Two different allocation approaches are investigated: Cascaded Generalized Inverses and Weighted Least Squares. Effector limits and failure conditions are taken into account in an efficient way in allocation. A simulation study is performed using the nonlinear aircraft model, control laws, and control allocation models for various maneuvers and control effector failure cases.

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