Modeling and Optimal Control of Hybrid UAVs with Wind Disturbance
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the fixed-wing and the rotary-wing UAVs. A non-linear model for the hybrid vehicle is rapidly built, combining rigid body dynamics, aerodynamics of wing, and dynamics of the motor and propeller. Further, we design an H2 optimal controller to make the UAV robust to wind disturbances. We compare its results against that of PID and LQR-based control. Our proposed controller results in better performance in terms of root mean squared errors and time responses during two scenarios: hover and level-flight.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Full Model-Free Control Architecture for Hybrid UAVs
This paper discusses the development of a control architecture for hybrid Unmanned Aerial Vehicles (UAVs) based on model-free control (MFC) algorithms. Hybrid UAVs combine the beneficial features of fixed-wing UAVs wi…
modelPositionEdge Intelligence Empowered UAVs for Automated Wind Farm Monitoring in Smart Grids
With the exploitation of wind power, more turbines will be deployed at remote areas possibly with harsh working conditions (e.g., offshore wind farm). The adverse working environment may lead to massive operating and mai…
Wind-Aware Optimal Trajectory Planning for Efficient Gliding of Fixed-Wing Aerial Systems
Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems …
Trajectory PlanningMinimum-Time Sequential Traversal by a Team of Small Unmanned Aerial Vehicles in an Unknown Environment with Winds
We consider the problem of transporting multiple packages from an initial location to a destination location in a windy urban environment using a team of SUAVs. Each SUAV carries one package. We assume that the wind fiel…
Mathematical Modeling of Isolated Wind-Diesel-Solar Photo Voltaic Hybrid Power System for Load Frequency Control
This research presents the mathematical model of an isolated wind-diesel-solar PV hybrid power system with conventional proportional-plus-integral controllers for load frequency control (LFC). In order to enhance the rel…