固定翼UAVにおける遷移飛行の制御系設計

抄録

This paper describes the design of novel control system for a fixed-wing Unmanned Aerial Vehicle (UAV) which can transition between level flight and hovering. The control system is constructed by using dynamic inversion method applying to the translational and rotational nonlinear equations of motion of the UAV. In the controller design for the rotational motion, an observer based on Disturbance Accommodating Control (DAC) method is used to estimate nonlinear parameters. Moreover, H_∞ controller is employed to have robustness against estimation error and modeling error on its dynamics. In order to verify the validity of the proposed control system, numerical simulation is performed for the UAV.