Modelling and Control of Roll Dynamics of a Planar Vertical Takeoff Landing Vehicle

ABSTRACT In this paper design schemes have been introduced for roll control of a PVTOL vehicle. PVTOL is a category of UAV that has two propulsion systems and can take-off and land in a vertical plane. The working model of roll of the system is found out using black-box modelling technique using system identification toolbox in matlab which requires no insight of the system. A PID controller is incorporated to control the system and the controller parameters are optimized using the genetic algorithm optimization toolbox available in matlab considering ITAE as an optimization criteria. The simulation results for optimized values of controller depictsatisfying time domain characteristics. Keywords: PID, Black-box modelling, PVTOL, Genetic algorithm.