Control-Based Robust CAS Design for QTW-UAV via the Multiple-Model Approach with Particle Swarm Optimization

Table 1

McART3 nominal models and perturbed models (“” denotes “nominal” and “” denotes “perturbed” models) and SAS gains in lateral directional motions (“-” denotes disuse).

Design point (tilt angle)	Model name	Tilt angle	SAS gain
			1 (T90)	1 -	90	—	29	86	—	—
1 –	80
2 (T70)	2 -	80	0	29	86	100	—
	2 –	70
	2 –	60
3 (T50)	3 -	60	103	40	86	100	—
	3 –	50
	3 –	40
4 (T30)	4 –	40	83	40	86	100	—
	4 –	30
	4 –	20
5 (T15)	5 -	20	67	33	86	100	—
	5 –	15
	5 –	10
6 (T00)	6 -	10	46	—	—	150	89
	6 –	0 (flap down)
	6 –	0 (clean)
7 (clean)	7 -	0 (flap down)	46	—	—	150	45
	7 –	0 (clean)