Unsteady aerodynamic modeling and control of pusher and tilt-rotor quadplane configurations

Govdeli, Yunus; Muzaffar, Sheikh Moheed Bin; Raj, Raunak; Elhadidi, Basman; Kayacan, Erdal

doi:10.1016/j.ast.2019.105421

Cited by 39 publications

(25 citation statements)

References 16 publications

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“…For the plane motion, the virtual thrust U x and U y are provided by (17), we can also conclude that…”

Section: Position Controller Designmentioning

confidence: 71%

“…In order to show the performance improvement of the proposed control scheme, simulations are conducted by comparing the proposed control scheme with PID control [17] and SMC with radical basic function neural network (SMC-RBFNN) [25]. Among the two control schemes, PID control is the most widely used method in practice, while SMC-RBFNN is also an advanced nonlinear control approach which can alleviate the chattering and improve robustness without sacrificing control performance.…”

Section: Comparisons With Other Methodsmentioning

confidence: 99%

“…According to (17), the amplitude of the virtual thrust U p mainly depends on the desired accelerationχ r . In general,χ r cannot be too large; therefore, the virtual thrust U p is bounded and satisfies U p ≤ m( χ r + ge 3 +…”

Section: Position Controller Designmentioning

confidence: 99%

“…In the actual flight process of the Multi-TRUAVs, it commonly suffers from many control difficulties. A PID control method commonly was used in the flight control of the tilt rotor UAVs [16,17]. Yunus adopted the conventional PID control to generate the control inputs of a tilt rotor quadplane, and the control performances of the tilt-rotor configuration and the pusher quadplane configuration were also compared.…”

Section: Introductionmentioning

confidence: 99%

“…Yunus adopted the conventional PID control to generate the control inputs of a tilt rotor quadplane, and the control performances of the tilt-rotor configuration and the pusher quadplane configuration were also compared. The simulation results indicated that the conventional PID control is still more challenging in the control of the tilt-rotor configuration [17]. Liu reviewed some linear control methods such as state feedback, LQR, and robust control which were often used in the controller design of the tilt rotor UAVs [1].…”

Section: Introductionmentioning

confidence: 99%

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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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“…For the plane motion, the virtual thrust U x and U y are provided by (17), we can also conclude that…”

Section: Position Controller Designmentioning

confidence: 71%

Section: Comparisons With Other Methodsmentioning

confidence: 99%

Section: Position Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

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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Robust optimal transition maneuvers control for tail‐sitter unmanned aerial vehicles

Yang

Wang

et al. 2021

Intl J Robust & Nonlinear

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Optimal transition has been widely studied for tail‐sitter unmanned aerial vehicles (UAVs). However, since the derived optimal control can only be applied in an open‐loop form, unmodeled dynamics and external disturbances cannot be restrained. Aiming at this problem, this article presents a method to obtain optimal transition maneuvers in the presence of these uncertainties. The approach includes two steps: nonlinear trajectory optimization and robust trajectory tracking. For the trajectory optimization, the minimum altitude variation front and back transition trajectories are derived. Different from existing optimal transition studies, considerable actuator margins are reserved in this step. Thus the tail‐sitter possesses control efforts to perform closed‐loop corrections for uncertainties. For the trajectory tracking, a robust controller in the form of feedforward plus feedback is proposed. The feedforward term directly employs the derived optimal control to improve the dynamic response of the system. The feedback term adopts linear control and acceleration‐based compensator to place desired poles and restrain all uncertainties. To the authors' knowledge, this article is the first time to study the tail‐sitter robust transition control method considering the transition optimality and actuator margins. It is proved that the tracking errors converge into a specified neighborhood of the origin in a finite time. Simulation studies corroborate the performance of the optimal transition trajectories and the robust trajectory tracking controller.

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Identification of Linear Models of a Tandem-Wing Quadplane Drone: Preliminary Results

Okulski

Ławryńczuk

2020

Advances in Intelligent Systems and Computing

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Unsteady aerodynamic modeling and control of pusher and tilt-rotor quadplane configurations

Cited by 39 publications

References 16 publications

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

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

Robust optimal transition maneuvers control for tail‐sitter unmanned aerial vehicles

Identification of Linear Models of a Tandem-Wing Quadplane Drone: Preliminary Results

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