Design, Modeling and Control of a Miniature Hybrid UAV

Abstract

For now, miniature UAVs which have experienced a tremendous development are dominated by two main types, i.e., fixed-wing UAV and Vertical Take-Off and Landing (VTOL) UAV, each of which, however, has its own inherent limitations on such as flexibility, payload capacity, and endurance. Enhanced popularity and interest have been recently gained by a newer type of UAVs, named hybrid UAV that integrates the beneficial features of both conventional ones. In this thesis, a technical overview of the recent advances on the platform design, dynamic modeling and control of hybrid UAV is first presented. A tilt-rotor convertiplane hybrid UAV platform that was constructed and flight tested. A comprehensive modeling methodology was developed in which a flight dynamics model structure is proposed based on the physical principle of the tilt-rotor conventioneer and then a detailed parameter identification procedure is conducted. The overall model fidelity is examined by practical flight test experiment, aiming at achieving a high-quality model for reliable flight simulation and flight control law design. PID controller is designed for the hovering mode with corresponding simulations.

Date of Award	Dec 2015
Original language	American English
Supervisor	Guowei Cai (Supervisor)