Optimal Control Strategies for a Ducted RUAV

Abstract

A comparison has been made between four control strategies for a mini ducted rotary UAV (RUAV). The design and the manufacturing of this ducted RUAV will be explained and presented. The maximum dimension of this UAV is 700 mm and its mass reaches about 10 kg in its final version. The control strategies have been applied to a split control process of the RUAV : a first one for the altitude and the yaw control of the vehicle and a second one for the attitude and the horizontal position of the vehicle. The four control strategies that have been examined and compared are : 1) PID (Proportional Integral Derivative) and LQR (Linear-Quadratic Regulation); 2) PID and cascade saturations; 3) Backstepping; and 4) Backstepping with integration.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2007
Accession Number
ADA478710

Entities

People

  • Alexandre Depouhon
  • Jean-francois Aernouts
  • Patrick Hendrick

Organizations

  • Université Libre de Bruxelles

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Altitude
  • Composite Materials
  • Control Systems
  • Energy Consumption
  • Engines
  • High Gain
  • Integrals
  • Internal Combustion Engines
  • Law
  • Manufacturing
  • Mission Profiles
  • Platforms
  • Production
  • Regulations
  • Saturation
  • Wind Tunnels

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Aerospace Engineering
  • Control Systems Engineering.