Dynamic Modeling and Controlling for Autonomous Takeoff of Unmanned Aerial Vehicle

To achieve the autonomous takeoff of Unmanned Aerial Vehicle along the centerline of the runway, the unique dynamical characteristics should be established for the UAV and the suitable control method should be designed. In this study, the dynamic model makes the pressure ratio of front-main wheel is a constant, then adding the pressure errors caused by the rolling moment to the left and right main wheels separately. The dynamic model also includes the motor twisting moment and the wind disturbance. Based on all the factors mentioned above, a control method by front wheel and rudder swaying is designed for the direction and lateral displacement control. The simulation results show that the time-separate controller by front and main wheels achieves the destination in the environment of initial displacement 1m, initial yaw angle 5 degrees and wind velocity 3m/s.