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http://dx.doi.org/10.5139/JKSAS.2012.40.7.574

Dynamic Modeling and Stabilization of a Tri-Ducted Fan Unmanned Aerial Vehicles using Lyapunov Control  

Na, Kyung-Seok (건국대학교 항공우주정보시스템공학과)
Won, Dae-Hee (건국대학교 항공우주정보시스템공학과)
Yoon, Seok-Hwan (건국대학교 항공우주정보시스템공학과)
Sung, Sang-Kyung (건국대학교 항공우주정보시스템공학과)
Ryu, Min-Hyoung (한양대학교 기계공학과)
Cho, Jin-Soo (한양대학교 기계공학과)
Lee, Young-Jae (건국대학교 항공우주정보시스템공학과)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.40, no.7, 2012 , pp. 574-581 More about this Journal
Abstract
Because of the exposed blade, the UAV using the rotors entail the risks during operation. While a wrapped duct around the fan blades reduces risks, it is a higher thrust performance than the same power load rotor. In this paper, for applying advantages of a ducted fan, the tri-ducted fan air vehicle configuration is proposed. The vehicle has three ducted fans. Two of them are the same shape and size and the third one is the smaller. It is possible to control a rapid attitude stability using thrust vector control. The equations of motion of the tri-ducted fan were derived. Lyapunov control input was applied to the system and stable inputs were derived. A nonlinear simulation was fulfilled by using parameters of a prototype vehicle. It verified a stable attitude and analyzed results.
Keywords
UAV; Ducted Fan; Lyapunov Function; Modeling; Tri Ducted Fan;
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