Stability analysis and control system design for a damaged UAV

Failures of actuators in a system can reduce system performance, instability, and even cause accidents. One of the disadvantages of remotely piloted aircraft, or UAVs in short, is their vulnerability to various types of defects such as operator defects and physical damage. Damage causes structural change and parameter uncertainty, which requires new UAV modeling and controller design.In this research, the modeling, stability analysis and control system design of a UAV called Aerosonde manufactured by Textron Inc have been discussed. This drone with structural damage, ۲۰ percent wing tip damage and ۱۵ degree locking in the right ruddervator have been discussed. Aerodynamic coefficients for both states without damage and considering damage have been calculated and the nonlinear motion equations of the UAV have been derived. Finally, to maintain the height, speed and Euler angles of the UAV, LQR control is applied in the presence of failure. The simulation results show that, by using the LQR controller, the UAV performs the guidance commands correctly and is controlled