Modeling and Attitude Control of Tri-Tilt Ducted Fan Vehicle

Seo, Yongjun; Kim, Youdan

doi:10.2514/6.2016-0103

Cited by 6 publications

(1 citation statement)

References 11 publications

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“…Since we provide a general formulation, we employ a control allocation technique to map the thrust and torque vectors to the individual desired control inputs regardless if the vehicle is over-or under-actuated. Unlike [15,[33][34][35][36][37], where the controller provides the desired torques, our proposed controller provides each rotor force by employing an augmented dynamic model and using the desired thrust vector generated by the translational dynamic controller. As a result, one can directly define the constraints on the actuators' efforts and their rate of change within the RSMPC optimization problem.…”

Section: Introductionmentioning

confidence: 99%

A constrained robust switching MPC structure for tilt-rotor UAV trajectory tracking problem

Eskandarpour,

Mehrandezh,

Gupta

et al. 2023

Nonlinear Dyn

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In tilt-rotor UAVs, both the fuselage and tilting rotors contribute to the vehicle's rotational motion. Consequently, the system's dynamics rise to a highly-nonlinear system, making it challenging to find feasible and desired control solutions. The common control practices devise a logic-based controller to switch between different flight modes or map the control inputs to the conventional helicopter-type control inputs. However, they fail to provide energy-efficient fast trajectory tracking, especially in the presence of external disturbances. This paper proposes a general-model dynamic formulation and a two-layered constrained Model Predictive Control (MPC) strategy to tackle the trajectory tracking problem for tilt-rotor UAVs. After splitting the vehicle's dynamics into translational and rotational parts, a constrained Linear MPC (LMPC) is designed for the translational dynamic to follow a reference trajectory. We formulate the LMPC as a Quadratically-Constrained Quadratic Problem (QCQP) that leads to a feasible set-point solution for the rotational control layer without violating the physical constraints. Also, an optimizer is designed to generate a thrust vector, which leverages the vehicle's

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