Mathematical Modeling and Modal Switching Control of a Novel Tiltrotor UAV

Kong, Zhiwei; Lu, Qiang

doi:10.1155/2018/8641731

Cited by 20 publications

(17 citation statements)

References 22 publications

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“…e definitions of the main wing-body reference frames and corresponding conversion matrices can be found in most literature on aircraft dynamics [25]. Let O b x b y b z b be the body-fixed frame (BFF) attached to the center of gravity (CoG) of the aircraft.…”

Section: Mathematical Modelingmentioning

confidence: 99%

“…e optimal control input of the RSLQR control is shown in equation (25), and a schematic diagram of the RSLQR state feedback control is presented in Figure 6:…”

Section: Rslqr Controlmentioning

confidence: 99%

“…By substituting equation (30) into system (25), the nonlinear control system becomes a linear integral series system, which is called dynamic compensation linearization [31]:…”

Section: Rslqr Control Based On Esomentioning

confidence: 99%

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Design of Flight Control System for a Novel Tilt-Rotor UAV

Chen

Jia

2020

Complexity

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is paper presents the control system design process of a novel tilt-rotor unmanned aerial vehicle (TRUAV). First, a new configuration scheme with the tilting rotors is designed. en, the detailed nonlinear mathematical model is established, and the parameters are acquired from designed experiments and numerical analyses. For control design purposes, the dynamics equation is linearized around the hovering equilibrium point, and a control allocation method based on trim calculation is developed. To deal with the actuator saturation and uncertain disturbance problems for the novel TRUAV, an improved flight control law based on the combination of the robust servo linear quadratic regulator (RSLQR) optimal control and the extended state observer (ESO) is proposed. e designed flight control law has a simple structure with a high reliability in engineering. Simulations and hovering flight tests are carried out to verify the effectiveness of the mathematical model and the proposed control strategy.

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Section: Mathematical Modelingmentioning

confidence: 99%

“…e optimal control input of the RSLQR control is shown in equation (25), and a schematic diagram of the RSLQR state feedback control is presented in Figure 6:…”

Section: Rslqr Controlmentioning

confidence: 99%

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Design of Flight Control System for a Novel Tilt-Rotor UAV

Chen

Jia

2020

Complexity

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“…Francesco designed an attitude controller based on incremental nonlinear dynamic inversion technology for a tilted quadrotor UAV with a central duct [19]. Kong designed a tilting quadrotor UAV and proposed a nonlinear controller based on backstepping [20]. Based on the proposed controller, the flight test of the hover mode and simulation analysis of the transition mode were completed.…”

Section: Introductionmentioning

confidence: 99%

A Nonlinear Robust Sliding Mode Controller with Auxiliary Dynamic System for the Hovering Flight of a Tilt Tri-Rotor UAV

Huang

et al. 2020

Applied Sciences

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The tilt tri-rotor unmanned aerial vehicle (UAV) has three flight modes: the hover mode, the transition mode, and the fixed-wing mode. Controller design in the hover mode is the premise of realizing stable flight of this kind of UAV. Due to the particular structure with odd rotors and strong nonlinearity, the modeling and control of the tilt tri-rotor UAV remain an active and ongoing research topic. To overcome these problems and achieve stable flight control, this paper proposes a sliding mode-based nonlinear control scheme for the hovering flight of a tilt tri-rotor UAV, consisting of position control, attitude control, and control allocation. First, the mathematical model of the UAV is given by using the Newton–Euler formulation. Second, a cascade flight controller consisting of the position controller and the attitude controller is developed based on sliding mode control (SMC). For the position controller, an auxiliary dynamic system composed of the hyperbolic tangent functions is introduced to the SMC approach for constraining the output magnitude of the thrust and the reference attitudes. Besides, a disturbance observer is applied to the attitude controller to alleviate the chattering and improve robustness. Furthermore, according to the structural characteristics of the tilt tri-rotor UAV, a control allocation algorithm is developed to map the virtual control quantities calculated by the cascade flight controller to the actual actuators. Simulations are conducted to verify the robustness against the external disturbances and parameter variations, and the performance comparisons with two other control schemes are also given. Finally, the experiment is also carried out to validate the performance of the proposed control scheme.

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“…This type of an unsteady aerodynamic model can be considered to calculate the unsteady forces during transition flight with higher accuracy when compared to a quasi-steady model. To simplify the problem, some of the control surfaces are removed [84,85] or thrust is input as the only control parameter [86]. For example, a linear quadratic integral controller is proposed for only attitude stability of a tilt-wing system in [87].…”

Section: Quasi-steady and Unsteady Aerodynamic Forces And Momentsmentioning

confidence: 99%

Design, modeling and control of a lightweight 3D printed fixed wing VTOL UAV

Govdeli¹

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This thesis covers topics in additive manufacturing (AM), dynamic modeling and control of fixed-wing vertical takeoff and landing unmanned aerial vehicles (VTOL UAVs). For AM, a guideline for AM of aircraft wings is developed. Two design methodologies were considered, namely a conventional design using ribs-spar-skin and an unconventional design using skin-periodic cellular structures. For a conventional rib-spar structure, the effects of skin thickness, number of ribs, additive building as well as printing orientations on the wing strength and weight are investigated. Among the obtained wing structures, the best performing wing configuration, i.e., a combination of number of ribs, skin thickness, printing and building orientations, is selected based on weight and strength. This selected structure is manufactured and I would like to express my sincerest gratitude to my advisor Professor Basman Elhadidi for his guidance and instruction during my doctoral study. In the time of being his student, I have learned many different aspects of aerodynamics, aircraft control and design, but, most importantly, he has changed my understanding of research and helped me to develop a new way of thinking and attitude toward academics. I am also grateful for his patience and support during hard times. He has always been approachable, especially when I did not know where to look for a solution. I deeply appreciate his enthusiasm, knowledge, and experience which helped me to receive constructive feedback and suggestions. Secondly, I would like to thank my co-supervisor Associate Professor Erdal Kayacan for showing me different subjects of graduate level research. I appreciate his efforts and motivation to improve the publicity of my work. Also, I am grateful Dr. Chen Songlin for his valuable suggestions at the beginning of my study in NTU. Thirdly, I would like to thank Singapore Centre for 3D Printing (SC3DP) for their support and giving me the opportunity to conduct my research. Without their support, I would not be able to be a part of such a high quality research environment. Last but not least, I would like to express my heartfelt appreciation to my wife, my parents, my brother and my friends for being supportive, encouraging and patient during my studies.

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Mathematical Modeling and Modal Switching Control of a Novel Tiltrotor UAV

Cited by 20 publications

References 22 publications

Design of Flight Control System for a Novel Tilt-Rotor UAV

Design of Flight Control System for a Novel Tilt-Rotor UAV

A Nonlinear Robust Sliding Mode Controller with Auxiliary Dynamic System for the Hovering Flight of a Tilt Tri-Rotor UAV

Design, modeling and control of a lightweight 3D printed fixed wing VTOL UAV

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