Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijae/volume-2015/364926/figures/364926.fig.0012a.svgz" name="364926.fig.0012a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Throttle position (<svg height="12.4535pt" id="M144" style="vertical-align:-3.16517pt" version="1.1" viewbox="-0.0498162 -9.28833 18.4575 12.4535" width="18.4575pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M501 517C491 587 426 710 310 710C240 710 175 662 175 601C175 561 201 517 250 452C219 438 187 423 157 404C88 360 24 280 24 178C24 71 90 -12 195 -12C250 -12 297 6 334 32C412 87 452 170 452 249C452 335 408 396 333 481C259 565 229 601 229 621C229 642 245 652 275 652C359 652 427 583 490 499L501 517ZM364 233C364 142 323 33 222 33C173 33 119 81 119 178C119 265 156 335 193 374C213 395 242 413 272 425C308 384 364 319 364 233Z" id="g50-226"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="525" vert-adv-y="525"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.5,3.001)"><path d="M303 37L293 66C280 59 256 49 231 49S173 63 173 143V396H281C294 404 298 428 287 439H173V575L158 577L92 509V439H46L17 408L22 396H92V107C92 27 128 -12 192 -12C203 -12 218 -9 237 2L303 37Z" id="g58-114"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="312" vert-adv-y="312"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.385,3.001)"><path d="M522 0V30C462 35 455 41 455 106V280C455 397 397 451 314 451C262 451 206 414 171 379V710C131 698 69 682 20 675V647C87 642 90 637 90 574V106C90 41 80 35 20 30V0H236V30C176 35 171 43 171 106V339C198 371 237 391 276 391C341 391 374 350 374 269V106C374 43 367 35 308 30V0H522Z" id="g58-102"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="544" vert-adv-y="544"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,14.335,3.001)"><path d="M185 344V453C137 433 92 421 41 413V386C100 378 104 375 104 310V106C104 41 97 35 33 30V0H268V30C190 35 185 41 185 107V283C206 340 240 371 267 371C282 371 296 364 310 351C316 344 325 343 336 348C357 357 369 378 369 399C369 424 345 451 310 451C262 451 219 397 187 344H185Z" id="g58-112"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="380" vert-adv-y="380"></glyph.data></g></svg>)</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2015/364926/figures/364926.fig.0012b.svgz" name="364926.fig.0012b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Elevator deflection (<svg height="12.4535pt" id="M145" style="vertical-align:-3.16517pt" version="1.1" viewbox="-0.0498162 -9.28833 17.3888 12.4535" width="17.3888pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M501 517C491 587 426 710 310 710C240 710 175 662 175 601C175 561 201 517 250 452C219 438 187 423 157 404C88 360 24 280 24 178C24 71 90 -12 195 -12C250 -12 297 6 334 32C412 87 452 170 452 249C452 335 408 396 333 481C259 565 229 601 229 621C229 642 245 652 275 652C359 652 427 583 490 499L501 517ZM364 233C364 142 323 33 222 33C173 33 119 81 119 178C119 265 156 335 193 374C213 395 242 413 272 425C308 384 364 319 364 233Z" id="g50-226"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="525" vert-adv-y="525"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.5,3.001)"><path d="M384 109C349 76 310 59 268 59C197 59 123 113 120 245C240 248 367 259 384 262C403 266 407 275 407 296C407 376 338 451 254 451H253C201 451 148 425 105 378C65 334 39 272 39 203C39 88 112 -12 235 -12C266 -12 339 5 402 84L384 109ZM230 411C285 411 319 365 319 313C319 298 313 293 294 293C236 291 180 290 125 290C141 370 185 411 230 411Z" id="g58-99"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="434" vert-adv-y="434"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,10.413,3.001)"><path d="M244 0V30C178 35 170 41 170 107V710C136 697 72 680 18 675V647C83 642 89 639 89 572V107C89 43 80 35 16 30V0H244Z" id="g58-106"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="260" vert-adv-y="260"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,12.779,3.001)"><path d="M384 109C349 76 310 59 268 59C197 59 123 113 120 245C240 248 367 259 384 262C403 266 407 275 407 296C407 376 338 451 254 451H253C201 451 148 425 105 378C65 334 39 272 39 203C39 88 112 -12 235 -12C266 -12 339 5 402 84L384 109ZM230 411C285 411 319 365 319 313C319 298 313 293 294 293C236 291 180 290 125 290C141 370 185 411 230 411Z" id="g58-99"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="434" vert-adv-y="434"></glyph.data></g></svg>)</td></tr></table>

<div>Time histories of the control inputs (Case  1).</div>

International Journal of Aerospace Engineering

fig12

Figure 12

Figure 12: Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker 