This paper presents a flight control system for an organic flight array (OFA) with a new configuration consisting of multimodularized ducted-fan unmanned aerial vehicles. The OFA has a distinguished advantage of assembling or separating with respect to its missions or operational conditions because of its reconfigurable structure. Therefore, designing a controller that can be flexibly applied in each situation is necessary. First, a dynamic modeling of the OFA based on a single ducted-fan vehicle is performed. Second, the inner loop for attitude control is designed through dynamic model inversion and a PD controller. However, an adaptive control component is needed to flexibly cope with the uncertainty because the operating environment of the OFA is varied, and uncertainty exists depending on the number of modules to be assembled and disturbances. In addition, the performance of the neural network adaptive controller is verified through a numerical simulation according to two scenarios.

This paper proposes a flight control system for an organic flight array(OFA) which has a new configuration to consist of multi modularized ducted-fan unmanned aerial vehicles (UAVs). The OFA is able to apply to various missions such as indoor reconnaissance, communication relay, and radar jamming by using capability of hover flight. The OFA has a distinguished advantage due to reconfigurable structure to assemble or separate with respect to its missions or operational conditions. A dynamic modelling of the OFA is derived based on equations of motion of the single ducted-fan modules. In order to apply nonlinear control method, an affine system of attitude dynamics is derived. Moreover, the control system is composed of a back-stepping controller for attitude control and a PID controller for position control. Then the performance of the proposed controller is verified via a numerical simulation under wind disturbance.

This paper proposes a flight control system for an organic flight array(OFA) which has a new configuration to consist of multi modularized ducted-fan unmanned aerial vehicles (UAVs). The OFA is able to apply to various missions such as indoor reconnaissance, communication relay, and radar jamming by using capability of hover flight. The OFA has a distinguished advantage due to reconfigurable structure to assemble or separate with respect to its missions or operational conditions. A dynamic modelling of the OFA is derived based on equations of motion of the single ducted-fan modules. In order to apply nonlinear control method, an affine system of attitude dynamics is derived. Moreover, the control system is composed of a back-stepping controller for attitude control and a PID controller for position control. Then the performance of the proposed controller is verified via a numerical simulation under wind disturbance.