Robust control design based on sliding mode control for hover flight of a mini tail-sitter Unmanned Aerial Vehicle

Guerrero, José Alfredo; Lozano, Rogelio; Romero, Gerardo; Alabazares, David Lara; Wong, KC

doi:10.1109/iecon.2009.5415267

Cited by 24 publications

(15 citation statements)

References 17 publications

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“…A hybrid UAV with both cruising flight and VTOL capability will be very useful in such tasks. A few prototypes of hybrid aircrafts fitting these tasks have been designed in the past, such as the tail-sitter airplanes jointly developed by the University of Sydney and the University of Compiegne [2], the hybrid UAV developed by icarusLabs [3] and the tilting-wing quadrotor [4], SUAVI, developed by Hancer and his teammates.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Thrust-Vectored Unmanned Tail-Sitter with Reconfigurable Wings

et al. 2015

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In this paper, we present the development of a reconfigurable hybrid unmanned aerial vehicle (UAV): U-Lion [Ang et al., 11th IEEE Int. Conf. Control Automation (ICCA), pp. 750-755]. U-Lion is a small-scale UAV that is capable of vertical takeoff and landing (VTOL) and fixedwing Cruise modes through its unique mechanical design. Mainly built with carbon fiber and expanded polyolefin (EPO) foam, U-Lion is equipped with an array of avionic components which enable stable control of the UAV both in VTOL and Cruise modes. It was employed by the National University of Singapore (NUS) Unmanned System Research Group to participate in the 2013 UAV Grand Prix (UAVGP) competition held in Beijing, China. Its design adopts a reconfigurable wing and a tail-sitter structure, which combines the advantages of a fixed-wing plane and a rotor helicopter effectively. U-Lion could transit from vertical takeoff to a hovering stage before flying in Cruise mode to realize efficient long duration flight. The propulsion of U-Lion comes from a self-fabricated contra-rotating motor fixed on a gimbal mechanism which can change the direction of the motor for the required thrust. This thrust-vectored propulsion system primarily provides control in the VTOL mode but also enhances flight capabilities in Cruise mode. The maximum thrust provided by the motor can be as high as 40 N and it provides six degree of motion controls in VTOL mode. U-Lion has a few special internal designs to empower its capabilities: (1) Reconfigurable wings allow the U-Lion to adapt to different flying modes. (2) Adaptive center of gravity (CG) by adjusting the battery position to fulfill the different requirements of CG for VTOL mode and Cruise mode. (3) Unique contra-rotating thrust-vectored propulsion system. The detailed design and implementation procedure have been presented in this paper along with our computational fluid dynamics (CFD) simulation results, real flight tests and competition performance.

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Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Thrust-Vectored Unmanned Tail-Sitter with Reconfigurable Wings

et al. 2015

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“…23 In the work of Jung and Shim, 24 L 1 adaptive controller was designed to improve the tracking performance. Model predictive control 25 and sliding mode control 26,27 were applied to stabilize the attitude control systems of tail-sitter UAVs. However, in the work of Li et al, 25 an accurate linear state-space model is needed.…”

Section: Introductionmentioning

confidence: 99%

“…However, in the work of Li et al, 25 an accurate linear state-space model is needed. In other works, 23,24,26,27 only considering external disturbance, the influences of other uncertainties including parameter uncertainties and unmodeled uncertainties on the closed-loop control system were not fully discussed. Therefore, most of previous studies mainly focused on the attitude control problems for tail-sitter UAVs under external disturbances or without uncertainties, but how to achieve high-performance flight mode transitions under the influence of various uncertainties including high nonlinearities, coupled dynamics, serious variations and uncertainties, and external disturbances for the tail-sitters still remains challenging.…”

Section: Introductionmentioning

confidence: 99%

“…In recent years, lots of sliding mode control methods were applied to deal with the flight control problem for tail-sitter UAVs. 26,27 Many researchers have devoted to solving the robust sliding mode control design problem to achieve robustness properties for uncertain nonlinear systems. However, the dynamical dynamics cannot be guaranteed by the sliding mode method in practical applications.…”

Section: Introductionmentioning

confidence: 99%

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Robust attitude control for tail‐sitter unmanned aerial vehicles in flight mode transitions

Liu

et al. 2018

Intl J Robust & Nonlinear

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Tail-sitter unmanned aerial vehicles (UAVs) can flight as rotorcrafts as well as fixed-wing aircrafts, but it is hard to control the flight mode transition. The vehicle dynamics involves serious parametric uncertainties, highly nonlinear dynamics, and is easy to be affected by external disturbances, especially during the mode transition. This paper presents a robust control method for a kind of tail-sitter UAVs to achieve the flight mode transition. The robust controller is proposed based on the state-feedback control scheme and the robust compensation method. The proposed control method does not need to switch the coordinate system, the controller structure, or the controller parameters during the mode transitions. Theoretical analysis is given to guarantee the robustness stability of the designed flight control system. Numerical simulation results are presented to show the advantages of the proposed control method compared with the state-feedback control method and the sliding mode control approach. KEYWORDSnonlinear system, robust control, tail-sitter aerial vehicle, uncertain system 1132

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“…In Ref. [10], the modeling and robust control design of a vertical flight attitude control for a mini tail-sitter with variable pitch propeller is discussed. A simplified attitude, dynamic model that includes interval parametric uncertainty was obtained, then a control law based in the sliding mode control (SMC) technique was used to stabilize the decoupled attitude control systems.…”

Section: Introductionmentioning

confidence: 99%

Strong adaptive attitude tracking controller design with dual-model structure for unmanned helicopter

Sheng

Sun

Duan

et al. 2014

Proceedings of the 33rd Chinese Control Conference

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The main objective of this research is to provide an efficient and flexible control approach for unmanned helicopter (UH) to overcome the major difficulties in aerodynamic parameter uncertainties. A strong adaptive tracking controller with dual-model structure, which has significant advantages of separating model tracking parameter design from adaptive control, is presented for the attitude control problem, and the system stability margin is improved in the process of adjustment parameter correction and tracking error is reduced. The sensors, noise influence on adjustable parameter correction has been reduced through adding a state filter behind the adjustable system. The efficiency and feasibility of this method are provided by flight test.

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Robust control design based on sliding mode control for hover flight of a mini tail-sitter Unmanned Aerial Vehicle

Cited by 24 publications

References 17 publications

Design and Implementation of a Thrust-Vectored Unmanned Tail-Sitter with Reconfigurable Wings

Design and Implementation of a Thrust-Vectored Unmanned Tail-Sitter with Reconfigurable Wings

Robust attitude control for tail‐sitter unmanned aerial vehicles in flight mode transitions

Strong adaptive attitude tracking controller design with dual-model structure for unmanned helicopter

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