Flying-wing型飛行ロボットのモデル構築と飛行安定化制御

抄録

This paper presents stable flight control for a flying-wing unmanned aerial vehicle (UAV). A six-degree-of-freedom nonlinear model for the UAV is constructed using wind trennel experimental data. The nonlinear model is separated and linearized as longitudinal and lateral models around a trimmed equilibrium. We design two stable controllers for the longitudinal and lateral models and investigate their performance through various flight simulations. The simulation results show the applicability of the designed controllers to the real flying-wing UAV in real environments.