06.2 - Flight Dynamics and Control (UAV related)
CONTROL AUGMENTATION SYSTEM DESIGN FOR THE QUAD TILT-WING UAV VIA H-INFINITY STRUCTURE WITH GWO
K.K. Deveerasetty¹, K. Oka¹, A. Harada¹; ¹Kochi University of Technology, Japan
In this paper, we analyzed the stability and control of a Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle, especially on the McART3 developed by the Japan Aerospace Exploration Agency, and it can hover and high-speed cruise performance. Our main aim is to design a robust controller to the Control Augmentation System (CAS) for the QTW Unmanned Aerial Vehicle. To guarantee the stability of the CAS, a feedback controller is introduced based on the sensitivity function in the frequency domain using grey wolf optimization (GWO). The advantage of the controller is that robust and straightforward to design. The applied controller performance is validated using the MATLAB SIMULINK. The results suppress the oscillations compared with the existing control techniques.rn QTW-UAVs have both capabilities to perform like a helicopter or fixed-wing UAV. The advantage of using QTW-UAV is that it can vertical-take-off -landing (VTOL), high speed at cruise, and can carry large payloads. Like fixed-wing aircraft, it does not require long runways for landing and take-off. The propellers will not interrupt the slipstream during the hovering mode, accordingly producing the required lift. There is no restriction related to the placement of the propellers at the end of the wings. The propellers can be placed at the center of the wings or in suitable positions. However, the aerodynamic characteristics vary significantly by changing the angle of the tilt wing, and it causes difficulty in designing a robust flight controller.rn The designed flight controller has a conventional structure composed of a stability augmentation system (SAS) that feeds back attitude rates with only proportional and integral gains and a turn coordinator (TC) that produces filtered feedforward rudder deflection in response to input roll attitude commands. In the longitudinal motions, the SAS has two control gains, whereas, in the lateral motions, SAS consists of five gains. Aerodynamic c