Hover control for a vertical take-off and landing vehicle

[摘要] This thesis details the development and comparison of two linear control systemsthat performhover control for a vertical take-off and landing unmannedaerial vehicle.A non-linear mathematical model of the aircraft dynamics is developed. Aclassical successive loop closure control approach is presented, which appliesstatic gains to the decoupled model around hover. A variable gain approachis presented using optimal control, which linearises the aircraftmodelaround its state at fixed time steps.Simulation performance and robustness results are examined for both systems.Different aspects of both controller design processes and results arecompared, including navigational performance, robustness and ease of use.

[发布机构] Stellenbosch University