نوع مقاله : مقاله پژوهشی
عنوان مقاله English
نویسندگان English
This paper presents an operational approach for controlling a single-engine tailed UAV in the hover phase. Tailed UAVs face various challenges, and this study addresses one specific issue: achieving and maintaining the final position in hover under uncertainty. To this end, a six-degree-of-freedom dynamic model of the UAV is first developed, followed by the design of a position-holding control strategy in hover using the dynamic inversion method. The control algorithm is implemented through a three-time-scale decomposition, comprising high-, medium-, and low-frequency components. For UAVs in the Flexrotor class, various uncertainties, such as wind shear disturbances and transitional maneuvers with large control inputs, can affect controller performance and potentially saturate actuators. To address this, the PCH2 control method is employed to prevent actuator saturation and mitigate interactions among control loops. This algorithm is essential for UAVs of this class due to their multiple flight phases, which may involve rapid maneuvers and large control inputs. The effectiveness of the proposed method is demonstrated through numerical simulations of position acquisition and the subsequent maintenance of the final position under uncertainty and discrete wind disturbances.
کلیدواژهها English
