Hover control of a thrust-vectoring aircraft

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• 作者：MinChi Kuang ; JiHong Zhu
• 关键词：hover control ; thrust ; vectoring aircraft ; tail ; sitter ; vertical takeoff and landing (VTOL) ; vertical Euler angles ; 073201 ; 鎮仠鎺у埗 ; 鎺ㄥ姏鐭㈤噺椋炴満 ; 灏惧骇寮忛鏈?/li> 鍨傜洿璧烽檷 ; 鍨傜洿娆ф媺瑙?/li>
• 刊名：SCIENCE CHINA Information Sciences
• 出版年：2015
• 出版时间：July 2015
• 年：2015
• 卷：58
• 期：7
• 页码：1-5
• 全文大小：335 KB
• 参考文献：1.Kita K, Konno A, Uchiyama M. Transition between level flight and hovering of a tail-sitter vertical takeoff and landing aerial robot. J Adv Robot, 2010, 24: 763鈥?81View Article
  2.Jung Y, Cho S, Shim D H. A comprehensive flight control design and experiment of a tail-sitter UAV. In: Proceedings of the 2013 AIAA Guidance, Navigation, and Control Conference, Boston, 2013. 4992鈥?015
  3.Argyle M E, Beach J M, Beard R W, et al. Quaternion based at-titude error for a tailsitter in hover flight. In: Proceedings of the IEEE American Control Conference, Oregon, 2014. 1396鈥?401
  4.Matsumoto T, Kita K, Suzuki R, et al. A hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance. In: Proceedings of the IEEE International Conference on Robotics and Automation, Alaska, 2010. 54鈥?9
  5.Beach J M, Argyle M E, McLain T W, et al. Tailsitter attitude control using resolved tilt-twist. In: Proceedings of the International Conference on Unmanned Aircraft Systems, Orlando, 2014. 768鈥?79
  6.Stone R H. Control architecture for a tail-sitter unmanned air vehicle. In: Proceedings of the IEEE Asian Control Conference, Victoria, 2004. 736鈥?44
  
• 作者单位：MinChi Kuang (1)
  JiHong Zhu (1)
  
  1. Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, China
  
• 刊物类别：Computer Science
• 刊物主题：Chinese Library of Science
  Information Systems and Communication Service
  
• 出版者：Science China Press, co-published with Springer
• ISSN：1869-1919

文摘

In this paper, the hover control method of a thrust-vectoring aircraft is discussed, which is thefirst step to realize vertical takeoff and landing (VTOL) as a tail-sitter. To avoid the gimbal lock problem,vertical Euler angles are used and a new calculation method of them is presented. The attitude controllerswitches between horizon mode and vertical mode, with a specially designed switchable control architecture.Linear/constant acceleration approximation is used for attitude control, which aims to get quick response andprevent overshooting at the same time. Special proportion integral derivative (PID) controller with anti-torquecounteraction is proposed to generate servo angles. Experimental results verify the effectiveness of the proposedcontrol method.