Rejection of Disturbances due to Drag and Lift Forces Present in the Taking Off of SUAVI-type UAV

This paper presents a control algorithm to compensate the drag and lift forces present during the take-off of a SUAVI type aircraft. For this, a feedback linearisation law in conjunction with a Generalized Proportional Integral (GPI) controller is used. The GPI controller was designed to compensate for drag and lift forces, variables that cannot be measured and unmodeled dynamics present in this vehicle. Disturbances are analyzed considering the interaction of drag and lift forces with the effective angle of attack. Also, the analysis of the error dynamics is carried out, which guarantees the convergence of the error to zero in finite time. Therefore, the control scheme is robust to disturbances that usually appear when modifying the traditional design of a quadrotor. The GPI and PID control algorithms were compared using numerical simulations to demonstrate the effectiveness of our algorithm. The work was carried out using the following methodology: the aerodynamic effects and non-linear characteristics present in the SUAVI were analyzed, which are included in the mathematical model and the controllers were designed based on the obtained model. Finally, the proposed controllers were simulated.