Robust Hovering Control of a Quad Tilt-Wing UAV

Hancer C., Oner K. T. , Sirimoglu E., Cetinsoy E. , Unel M.

36th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)/4th IEEE International Conference on E-Learning in Industrial Electronics/IES Industry Forum, Arizona, United States Of America, 7 - 10 November 2010 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/iecon.2010.5675441
  • City: Arizona
  • Country: United States Of America


This paper presents design of a robust hovering controller for a quad tilt-wing UAV to hover at a desired position under external wind and aerodynamic disturbances. Wind and the aerodynamic disturbances are modeled using the Dryden model. In order to increase the robustness of the system, a disturbance observer is utilized to estimate the unknown disturbances acting on the system. Nonlinear terms which appear in the dynamics of the vehicle are also treated as disturbances and included in the total disturbance. Proper compensation of disturbances implies a linear model with nominal parameters. Thus, for robust hovering control, only PID type simple controllers have been employed and their performances have been found very satisfactory. Proposed hovering controller has been verified with several simulations and experiments.