Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Modeling and Design of Robust Control System for VTOL Aircraft with Multi Fan

멀티팬을 가진 부상기의 모델링과 강인한 제어기의 설계

  • Shin, C.S. (Dept. of Control & Instr. Eng. Pusan National Univ. of Tech.) ;
  • Byun, G.S. (Dept. of Control & Instr. Eng. Pusan National Univ. of Tech.) ;
  • Choe, Y.W. (Dept. of Control & Instr. Eng. Pusan National Univ. of Tech.) ;
  • Lee, H.K. (Dept. of Control & Instr. Eng. Pusan National Univ. of Tech.)
  • 신춘식 (부산공업대학교 제어계측공학과) ;
  • 변기식 (부산공업대학교 제어계측공학과) ;
  • 최연욱 (부산공업대학교 제어계측공학과) ;
  • 이형기 (부산공업대학교 제어계측공학과)
  • Published : 1996.07.22
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Abstract

This paper designs a digital controller by making use of the $H^{\infty}$ control algorithm and $\mu$-synthesis in order to keep a balance of the VTOL(Vertical Take Off and Landing Plane) vehicle with 4 fans. A identification of the actual model is acquired by the vehicle rolling, pitching and yawing angles for a pseude-random signal input and various identification theories. In spite of parameter variations and existing disturbances, the designed controller showes its robust performance through simulations and experiments.

Keywords