MODEL PREDICTIVE CONTROL AND ROBUSTNESS TEST OF THE UNMANNED AERIAL VEHICLE (ZANKA-I) IN VARIOUS TURBULENCE

Abstract

In this paper, the robust control system is designed by using Model Predictive Control for ZANKA-I which is an unmanned aerial vehicle, and its performance is analyzed. In order to design the control system, longitudinal and lateral stability of the vehicle are modeled and converted to longitudinal and lateral state-space model, respectively. Also, the effects of turbulence on longitudinal and lateral stabilityare parametrically modeled and numerically inserted into the state-space models. As a result of simulating the model, the robustness of control system is proved.

Keywords

• Unmanned Aerial Vehicle
• Model Predictive Control
• Turbulence Model
• Robustness Test