Lateral dynamic modeling of Hezarfen unmanned aerial vehicle (UAV) and H∞ loop shaping robust control system design

  • Authors:

  • Kamuran Turkoglu;Elbrous M. Jafarov

  • Affiliations:

  • Department of Aeronautics and Astronautics, Istanbul Technical University, Ucak-Uzay Bilimleri Fakultesi, Istanbul, Turkey;Department of Aeronautics and Astronautics, Istanbul Technical University, Ucak-Uzay Bilimleri Fakultesi, Istanbul, Turkey

  • Venue:
  • ICS'06 Proceedings of the 10th WSEAS international conference on Systems
  • Year:
  • 2006

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Abstract

In daily life, there are several application areas of Unmanned Aerial Vehicles (UAVs) starting from agriculture up to defense related issues. In that sense, dynamical modeling and control system design in UAVs are taking an important role in terms of increasing the functionality and mission accuracy of UAVs. Regarding all of these facts, in this paper, the stability derivatives and several characteristics of Hezarfen UAV are obtained for the first time and dynamical model has been constructed using state space approach, where Hezarfen UAV prototype is being designed and going to be produced in collaboration with Istanbul Technical University. Secondly, time domain characteristics and open loop responses have been analyzed and results have been given. As a third, in the following section, in order to satisfy a robust performance for the given system, a Loop Shaping Robust controller using H∞ synthesis has been developed and applied to the system. Closed loop results have been given and further steps have been suggested at the end of the paper.