| A vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) is presented. A model for the pitch dynamics is developed to be used for hover control design. The model includes rotor degrees of freedom, and it is compared to empirical frequency response data. It is found that the pitch actuation method causes the system to be non-minimum phase, and feed forward compensation is investigated as a strategy for improving the gain limitations of the system due to the non-minimum phase zero. Hover controls are designed and simulated for the pitch axis, and the performance capabilities of the vehicle are evaluated based on simulations. |
