Supervising Control for Unmanned Aerial Vehicles

Table 1

Data of UAV.

Symbol	Value	Description
𝐶𝐿0	0.147	Coefficient of lift with zero angle of attack
𝐶^𝛼𝐿	4.54	Lift due to change in angle of attack
𝐶^̇𝛼𝐿	1.972	Lift due to change in rate of angle of attack
𝐶𝐿^𝛿𝑒	0.37	Lift due to change in elevator deflection
𝐶^𝑞𝐿	5.54	Lift due to change in pitching moment
𝐶𝐷0	0.0434	Zero drag
𝐶^𝑢𝐷	0.001	Coefficient of damping due to forward speed
𝐶𝐷^𝛿𝑒	0.0	Drag due to change in elevator deflection
𝐶^𝛽𝑌	−0.83	Side force due to change in side slip angle
𝐶𝑌^𝛿𝑎	0.0	Side force due to change in aileron deflection
𝐶𝑌^𝛿𝑟	0.1914	Side force due to change in rudder deflection
𝐶^𝑝𝑌	0.0085	Side force due to roll rate
𝐶^𝑟𝑌	0.25	Side force due to yaw rate
𝐶𝑚0	0.0001	Pitching moment with zero angle of attack
𝐶^𝛼𝑚	−0.39	Pitching moment due to change in alpha
𝐶^𝑢𝑚	0.0002	Pitching moment due to forward speed
𝐶^̇𝛼𝑚	−4.37	Pitching moment due to rate of alpha
𝐶𝑚^𝛿𝑒	1.2289	Pitching moment due to elevator deflection
𝐶^𝑞𝑚	−38.201	Pitching moment due to q
𝐶^𝛽𝑙	−0.022	Roll moment due to side slip angle
𝐶𝑙^𝛿𝑎	0.34	Roll moment due to aileron deflection
𝐶𝑙^𝛿𝑟	0.0154	Roll moment due to rudder deflection
𝐶^𝑝𝑙	−0.3819	Roll moment due to p
𝐶^𝑟𝑙	0.0514	Roll moment due to r
𝐶^𝛽𝑛	0.1022	Yaw moment due to side slip angle
𝐶𝑛^𝛿𝑎	−0.0088	Yaw moment due to aileron deflection
𝐶𝑛^𝛿𝑟	−0.1404	Yaw moment due to rudder deflection
𝐶^𝑝𝑛	−0.017	Yaw moment due to p
𝐶^𝑟𝑛	−0.28	Yaw moment due to r
𝑀	30	Mass of UAV (lbs)
𝑆	10.9	Wing surface area (sq ft)
𝑏	7.92	Wing span (ft)
𝐶	1.5	Mean chord length (ft)
𝐼𝑋	1.08	Moment of inertia about X axis (slug-ft^2)
𝐼𝑌	2.01	Moment of inertia about Y axis (slug-ft^2)
𝐼𝑍	3.03	Moment of inertia about Z axis (slug-ft^2)
𝐼𝑋𝑌	0.0	Product of inertia XY axis (slug-ft^2)
𝐼𝑌𝑍	0.0	Product of inertial YZ axis (slug-ft^2)
𝐼𝑋𝑍	0.0	Product of inertia XZ axis (slug-ft^2)