Modeling and Reconfigurable Control of the Unmanned Rotor Aerial Vehicle

The paper presents a kind of URAV(unmanned rotor aerial vehicle)which can be reconfigurable controlled. Its actuators include the major rotor inside the duct, four auxiliary rotors surrounding the major rotor and two ailerons at the end of the duct. The auxiliary rotors have the similar functions as that of the major rotor and ailerons in order to make the system to own the ability of reconfigurable control. The Newton-Euler method is adopted to build the 6 DOF(degree of freedom) dynamic model of the URAV. Based on the model, the controllability and dynamic characteristic of the system is analyzed near the hover state, and it is proved that the control of the lateral attitude and vertical displacement have better dynamic responses. Then, the multi-models reconfigurable control method is adopted to build the flight control system in order to verify the fault tolerance of the URAV. The result shows that the URAV has robustness to some kinds of failure. The proposed model and related analysis provide some theoretical basis for the design and control of the URAV