• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.9
• /
• pp.711-723
• /
• 2017

This paper proposes a flight control system for an organic flight array(OFA) which has a new configuration to consist of multi modularized ducted-fan unmanned aerial vehicles (UAVs). The OFA is able to apply to various missions such as indoor reconnaissance, communication relay, and radar jamming by using capability of hover flight. The OFA has a distinguished advantage due to reconfigurable structure to assemble or separate with respect to its missions or operational conditions. A dynamic modelling of the OFA is derived based on equations of motion of the single ducted-fan modules. In order to apply nonlinear control method, an affine system of attitude dynamics is derived. Moreover, the control system is composed of a back-stepping controller for attitude control and a PID controller for position control. Then the performance of the proposed controller is verified via a numerical simulation under wind disturbance.