Effect of Morphing on Control Energy of Output Variance Constrained Controller for Load-Carrying UAVs

This paper presents novel results for load-carrying UAVs having morphing capability and guided by output variance constrained controller. Effects of extension ratios of wing span and horizontal tail span on control energy of variance constrained controller satisfying straight level and constant speed flight of load-carrying UAV are in primary scope for this paper. A specific UAV called as ZANKA-II is benefitted and its data is used for these analyses. First of all, dynamic modeling of fixed-wing UAVs is presented and effect of morphing on these models is also emphasized. Then, effect of morphing on control energy of output variance constrained controller for load-carrying UAVs using 3-D Matlab graph is given. Comparisons between control energy versus extension ratios of wing span and horizontal tail span are made. Finally, closed-loop responses for the best scenario is deeply presented and discussed.