Manta Ray Bio-Inspired Tilt Ducted-Fan Unmanned Aerial Vehicle: Mathematical Modeling

This paper is focused on mathematical modeling of a manta ray bio-inspired Tilt Ducted-Fan Unmanned Aerial Vehicle(TDF-UAV). The aim is to analyze some of the unique features of the modelling work in order to develop a mathematical model that represents our TDF-UAV as closely as possible. To represent a physical system in mathematical equations for describing its behavior, its response to disturbances and its ability to remain stable whatever the environmental constraints is a major challenge for researchers in the field of UAVs construction and control. Another important phase is the design of the control system, which must be chosen taking into account all types of constraints, disturbances or any possible failure of the drone,it is possible to develop equations of motion for the aircraft, considering all the forces acting on the drone, including gravity and thruster forces, aerodynamic forces and moments. the developed model take into account the power of using the transient fast response of titling mechanism instead of using the actuators(motors) dynamics which represent a failure dealing with the frequency update of the control signals either in the inner( orientation) or outer loop(position).Finally, a complete mathematical model of the TDF-UAV is developed and linearized around an operating point, considering all design constraints and imperfections, as well as the environment and associated control strategy.