Controller Design Using Backstepping Algorithm for Fixed-Wing UAV with Thrust Vectoring System

Abstract

This paper describes the design method of a nonlinear flight controller for a fixed-wing UAV with a thrust vectoring system (TVS) using the backstepping method. The flight dynamics of the UAV exhibits strong nonlinear coupling behavior between its translational and rotational motion. The backstepping algorithm has been successfully applied to controller design for such a nonlinear system. However, the main idea of the method is to use some of the state variables as virtual control inputs that need ungeneratable forces by the UAV. To overcome this problem, we use the TVS that can generate thrust in an arbitrary direction. Numerical simulation is performed to confirm the effectiveness of the proposed control method for a fixed-wing UAV with the TVS.

Design of a Flapping Wings Butterfly Robot based on Aerodynamics Force

“…Furthermore, a flapping wing robot model has the advantages over other flying robot models which are a vertical taking off from and landing to a surface, hovering with a specific height, and maneuvering in a complex environment. The autonomous flying robots were interested because it is complex to analyze, model and design robot mechanisms and hard to determine control algorithms because of the nonlinearity term [2]. Delfly [3] Nanohumming bird [4], Purdue Hummingbird robot [5] and RoboBee [6] were popular developed flying robots that can taking off and hovering based on flapping wing mechanisms.…”