Lateral Robust Control System Design of Hezarfen UAV via H{sub}∞ Loop Shaping Approach and Sensitivity/Co-Sensitivity Analysis

摘要

Unmanned Aerial Vehicles (UAVs) are very complicated vehicles and are demanded high precision and correctness in the accomplishment of the mission. In that sense, dynamical modeling and control system design are taking an important role in terms of increasing the functionality and mission accuracy in UAVs. In the light of these facts, in the paper, lateral flight dynamic model of Hezarfen UAV has been obtained for the first time, where Hezarfen UAV prototype is being designed and going to be produced in collaboration with Istanbul Technical University, and several analyses have been conducted in order to inspect the open loop system. Afterwards, in order to suppress oscillatory effects in open loop system and in order to satisfy better performance, H{sub}∞ Loop Shaping Robust Control system has been implemented to the UAV. Moreover, in order to obtain better feeling of closed loop time domain responses, sensitivity and co-sensitivity analyses has been conducted and corresponding plots have been given respectively at the end of the paper.