Robust Mode Transition Attitude Control of Tail-Sitter Unmanned Aerial Vehicles
详细信息 查看官网全文
- 英文论文题名：Robust Mode Transition Attitude Control of Tail-Sitter Unmanned Aerial Vehicles
- 论文作者：LIU Deyuan ; LIU Hao ; LI Zhaoying
- 英文论文作者：LIU Deyuan ; LIU Hao ; LI Zhaoying ; School of Astronautics ; Beihang Univeristy
- 年：2017
- 作者机构：School of Astronautics,Beihang Univeristy;
- 英文论文关键词：Tail-sitter aerial vehicle ; robust control ; nonlinear system ; uncertain system
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：V249.1;V279
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：179k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, an attitude control strategy is proposed for a class of tail-sitter aerial vehicles, which is required to achieve the desired tracking control performance during the mode transition. The resulted controller is constructed by a nominal controller and a robust compensator to reduce the effects of nonlinear dynamics and uncertainties. Theoretical analysis and numerical simulation results are given to show the effectiveness of the constructed closed-loop control system.
In this paper, an attitude control strategy is proposed for a class of tail-sitter aerial vehicles, which is required to achieve the desired tracking control performance during the mode transition. The resulted controller is constructed by a nominal controller and a robust compensator to reduce the effects of nonlinear dynamics and uncertainties. Theoretical analysis and numerical simulation results are given to show the effectiveness of the constructed closed-loop control system.
In this paper, an attitude control strategy is proposed for a class of tail-sitter aerial vehicles, which is required to achieve the desired tracking control performance during the mode transition. The resulted controller is constructed by a nominal controller and a robust compensator to reduce the effects of nonlinear dynamics and uncertainties. Theoretical analysis and numerical simulation results are given to show the effectiveness of the constructed closed-loop control system.
引文
[1]Z.T.Dydek,A.M.Annaswamy,E.Lavretsky.Adaptive control of quadrotor UAVs:a design trade study with flight evaluations[J].IEEE Transactions on Control Systems Technology,2013,21(4):1400-1406.
[2]Z.Li,H.T.Liu,B.Zhu,H.J.Gao,O.Kaynak.Nonlinear robust attitude tracking control of a table-mount experimental helicopter using output feedback[J].IEEE Transactions on Industrial Electronics,2015,62(9):5665-5675.
[3]H.Liu,Y.Q.Bai,G.Lu,Y.S.Zhong.Robust attitude control of uncertain quadrotors[J].IET Control Theory and Applications,2013,7(11):1583-1589.
[4]H.Liu,Y.Q.Bai,G.Lu,Y.S.Zhong.Brief Paper Robust attitude control of uncertain quadrotors[J].IET Control Theory and Applications,2013,7(11):1583-1589.
[5]T.Lee.Robust adaptive attitude tracking on SO(3)with an application to a quadrotor UAV[J].IEEE Transactions on Control Systems Technology,2013,21(5):1924-1930.
[6]T.Oktay,C.Sultan.Modeling and control of a helicopter slung-load system[J].Aerospace Science and Technology,2013,29(5):206-222.
[7]I.A.Raptis,K.P.Valavanis,W.A.Moreno.A novel nonlinear backstepping controller design for helicopters using the rotation matrix[J].IEEE Transactions on Control Systems Technology,2010,33(4):1-9.
[8]C.Aguilar-Ibanez,H.Sira-Ramirez,M.S.Su￠rez-Castanon,E.Martinez-Navarro,M.A.Moreno-Armendariz.The trajectory tracking problem for an unmanned four rotor system:flatness-based approach[J].International Journal of Control,2012,85(1):69-77.
[9]K.Kita,A.Konno,M.Uchiyama.Hovering control of a tailsitter VTOL aerial robot[J].Journal of Robotics and Mechatronics,2009,21(2):277-286.
[10]X.H.Wang,Z.Q.Chen,Z.Z.Yuan,Modeling and control of an agile tail-sitter aircraft[J].Journal of The Franklin Institute,2015,352(12):5437-5472.
[11]F.Cakici,K.Leblebicioglu.Control system design of a vertical take-off and landing fixed-wing UAV[J].IFAC-Papers On Line,2016,49(3):267-272.
[12]A.Roza,M.Maggiore.A class of position controllers for underactuated VTOL vehicles[J].IEEE Transactions on Automatic Control,2014,59(9):2580-2585.
[13]D.Z.Zhang,Z.L.Chen,J.W.Lv.Lift system design of tailsitter unmanned aerial vehicle[J].Intelligent Control and Automation,2012,3(6):285-290.
[14]R.H.Stone,P.Anderson.Flight testing of the T-Wing tail-sitter unmanned air vehicle[J].Journal of Aircraft,2012,45(2):673-685.
[15]P.Anderson,H.Stone.Predictive guidance and control for a tail-sitting unmanned aerial vehicle[J].Information Decision and Control,2007:148-153.
[16]R.Naldi,M.Furci,R.G.Sanfelice,L.Marconi.Robust global trajectory tracking for underactuated VTOL aerial vehicles using Inner-Outer loop control paradigms[J].IEEE Transactions on Automatic Control,2017,62(1):97-112.
[17]A.Banazadeh,N.Taymourtash.Optimal control of an aerial tail sitter in transition flight phases[J].Journal of Aircraft,2015:1-8.
[18]O.Garcia,P.Castillo,K.C.Wong,R.Lozano.Attitude stabilization with real-time experiments of a Tail-sitter aircraft in horizontal flight[J].Journal of Intelligent and Robotic Systems,2012,65(1):123-136.
[19]Y.Jung,D.H.Shim.Development and application of controller for transition flight of Tail-Sitter UAV[J].Journal of Intelligent and Robotic Systems,2012,65(1):137-152.
[20]Y.S.Zhong.Robust output tracking control of SISO plants with multiple operating points and with parametric and unstructured uncertainties[J].International Journal of Control,2002,75(4):219-241.
[21]H.Liu,G.Lu,Y.S.Zhong.Robust LQR attitude control of a 3-DOF laboratory helicopter for aggressive maneuvers[J].IEEE Transactions on Industrial Electronics,2013,60(10):4627-4636.
[22]H.Liu,D.J.Li,Z.Y.Zuo,Y.S.Zhong.Robust Three-Loop trajectory tracking control for quadrotors with multiple uncertainties[J].IEEE Transactions on Industrial Electronics,2016,63(4):2263-2274.
[23]H.Liu,J.X.Xi,Y.S.Zhong.Robust optimal attitude control of a laboratory helicopter without angular velocity feedback[J].Robotica,2014,33(2):282-294.
[24]E.N.Johnson,S.K.Kannan.Adaptive trajectory control for autonomous helicopters[J].J Guid Control Dyn,2005,28(2):524-538.
[2]Z.Li,H.T.Liu,B.Zhu,H.J.Gao,O.Kaynak.Nonlinear robust attitude tracking control of a table-mount experimental helicopter using output feedback[J].IEEE Transactions on Industrial Electronics,2015,62(9):5665-5675.
[3]H.Liu,Y.Q.Bai,G.Lu,Y.S.Zhong.Robust attitude control of uncertain quadrotors[J].IET Control Theory and Applications,2013,7(11):1583-1589.
[4]H.Liu,Y.Q.Bai,G.Lu,Y.S.Zhong.Brief Paper Robust attitude control of uncertain quadrotors[J].IET Control Theory and Applications,2013,7(11):1583-1589.
[5]T.Lee.Robust adaptive attitude tracking on SO(3)with an application to a quadrotor UAV[J].IEEE Transactions on Control Systems Technology,2013,21(5):1924-1930.
[6]T.Oktay,C.Sultan.Modeling and control of a helicopter slung-load system[J].Aerospace Science and Technology,2013,29(5):206-222.
[7]I.A.Raptis,K.P.Valavanis,W.A.Moreno.A novel nonlinear backstepping controller design for helicopters using the rotation matrix[J].IEEE Transactions on Control Systems Technology,2010,33(4):1-9.
[8]C.Aguilar-Ibanez,H.Sira-Ramirez,M.S.Su￠rez-Castanon,E.Martinez-Navarro,M.A.Moreno-Armendariz.The trajectory tracking problem for an unmanned four rotor system:flatness-based approach[J].International Journal of Control,2012,85(1):69-77.
[9]K.Kita,A.Konno,M.Uchiyama.Hovering control of a tailsitter VTOL aerial robot[J].Journal of Robotics and Mechatronics,2009,21(2):277-286.
[10]X.H.Wang,Z.Q.Chen,Z.Z.Yuan,Modeling and control of an agile tail-sitter aircraft[J].Journal of The Franklin Institute,2015,352(12):5437-5472.
[11]F.Cakici,K.Leblebicioglu.Control system design of a vertical take-off and landing fixed-wing UAV[J].IFAC-Papers On Line,2016,49(3):267-272.
[12]A.Roza,M.Maggiore.A class of position controllers for underactuated VTOL vehicles[J].IEEE Transactions on Automatic Control,2014,59(9):2580-2585.
[13]D.Z.Zhang,Z.L.Chen,J.W.Lv.Lift system design of tailsitter unmanned aerial vehicle[J].Intelligent Control and Automation,2012,3(6):285-290.
[14]R.H.Stone,P.Anderson.Flight testing of the T-Wing tail-sitter unmanned air vehicle[J].Journal of Aircraft,2012,45(2):673-685.
[15]P.Anderson,H.Stone.Predictive guidance and control for a tail-sitting unmanned aerial vehicle[J].Information Decision and Control,2007:148-153.
[16]R.Naldi,M.Furci,R.G.Sanfelice,L.Marconi.Robust global trajectory tracking for underactuated VTOL aerial vehicles using Inner-Outer loop control paradigms[J].IEEE Transactions on Automatic Control,2017,62(1):97-112.
[17]A.Banazadeh,N.Taymourtash.Optimal control of an aerial tail sitter in transition flight phases[J].Journal of Aircraft,2015:1-8.
[18]O.Garcia,P.Castillo,K.C.Wong,R.Lozano.Attitude stabilization with real-time experiments of a Tail-sitter aircraft in horizontal flight[J].Journal of Intelligent and Robotic Systems,2012,65(1):123-136.
[19]Y.Jung,D.H.Shim.Development and application of controller for transition flight of Tail-Sitter UAV[J].Journal of Intelligent and Robotic Systems,2012,65(1):137-152.
[20]Y.S.Zhong.Robust output tracking control of SISO plants with multiple operating points and with parametric and unstructured uncertainties[J].International Journal of Control,2002,75(4):219-241.
[21]H.Liu,G.Lu,Y.S.Zhong.Robust LQR attitude control of a 3-DOF laboratory helicopter for aggressive maneuvers[J].IEEE Transactions on Industrial Electronics,2013,60(10):4627-4636.
[22]H.Liu,D.J.Li,Z.Y.Zuo,Y.S.Zhong.Robust Three-Loop trajectory tracking control for quadrotors with multiple uncertainties[J].IEEE Transactions on Industrial Electronics,2016,63(4):2263-2274.
[23]H.Liu,J.X.Xi,Y.S.Zhong.Robust optimal attitude control of a laboratory helicopter without angular velocity feedback[J].Robotica,2014,33(2):282-294.
[24]E.N.Johnson,S.K.Kannan.Adaptive trajectory control for autonomous helicopters[J].J Guid Control Dyn,2005,28(2):524-538.