Modeling and controller design of a VTOL air vehicle

Önen, Anıl Sami
This thesis focuses on modeling, controller design, production and flight test of a VTOL unmanned air vehicle. The air vehicle that is designed and manufactured for this study has three propellers. A nonlinear mathematical model of the aircraft is developed. For this both numerical codes as well as wind tunnel tests have been carried out. A simulation code is then written in MATLAB/Simulink environment that describes the physical properties of the system in detail. After trimming the air vehicle at appropriate equilibrium points in hover and forward flight phase separately, the nonlinear model is linearized around that trim points and Linear Quadratic Regulator (LQR) and Linear Quadratic Tracking (LQT) controllers are designed. After verifying both controllers through the nonlinear simulation, hover flight tests of the aircraft are also successfully carried out and results are reported.
Citation Formats
A. S. Önen, “Modeling and controller design of a VTOL air vehicle,” M.S. - Master of Science, Middle East Technical University, 2015.