Modularized modeling and inversed dynamics control design for a lift-fan UAV in hover

The concept of modularization is introduced in modeling and control design procedure for a lift-fan UAV which exhibits different character in different configuration. The characteristic of lift fans and its vanes are studied through an experiment system, and the 6-DOF nonlinear dynamic model for hove is derived as several modules. Control system is also divided into several modules with each module being designed as inversed system of corresponding module of UAV dynamics, so that the closed loop system becomes a set of simple kinematics equations. The use of the concept of modularization can greatly simplify the modeling procedure and made the design of control law very easy and straightforward. The effectiveness of the resulting model and control law for attitude and position control was verified by digital simulation.