Decoupling control of non-square UAV system

During umanned aerial vehicle (UAV) hovering, there exist the strong-coupling characteristics in the lateral multivariable flight models with non-square form. A novel decoupling control scheme for lateral motion of UAV is presented. First, the lateral non-square model for UAV is established and the inner loop feedback method is adopted to square it. Based on the optimum inverse Nyquist array (INA) method, an extended INA iterative recursive formula for the process is presented for the procedure. The simulation results show that after compensation, the coupling effect between yaw and roll of UAV is obviously decreased. The presented method with clear physical conceptions can be easily applied in the real engineering field.