Incremental Nonlinear Dynamic Inversion for a Dual-Ducted-Fan UAV Attitude Control under In-Ground-Effect

被引：0

作者：

Cheng, Zixiao ^{[3
]}

Pei, Hailong ^{[1
,2
,3
]}

Fang, Kai ^{[3
]}

机构：

[1] Key Lab Autonomous Syst & Networked Control, Minist Educ, Guangzhou 510641, Peoples R China

[2] Guangdong Engn Technol Res Ctr Unmanned Aerial Ve, Guangzhou 510641, Peoples R China

[3] South China Univ Technol, Coll Automat Sci & Engn, Guangzhou 510641, Peoples R China

来源：

2024 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTICS AND AUTOMATIC CONTROL, IRAC | 2024年

基金：

国家重点研发计划;

关键词：

Dual ducted fan; incremental nonlinear dynamic inversion(INDI); in-ground-effect(IGE); unmanned aerial vehicle(UAV);

D O I：

10.1109/IRAC63143.2024.10871469

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is aimed at modeling and attitude control of a dual-ducted-fan UAV under in-ground-effect(IGE). As the UAV flies and hovers over ground or above obstacles, the IGE can cause changes in thrust/torque that drastically affects flight behavior, especially during takeoff/landing. To address this problem, the paper derives a six degree-of-freedom model of the aircraft dynamics firstly. Then, key parameters and in-ground-effect features are obtained through measurements. In order to achieve stable attitude tracking control with in-ground-effect adapting, an incremental nonlinear dynamic inversion(INDI) based cascade controller is designed. Finally, the performance of the designed INDI controller is verified by stability proof, simulations and real flight experiments.

引用

页码：562 / 569

页数：8

共 21 条

[1] Modified adaptive discrete-time incremental nonlinear dynamic inversion control for quad-rotors in the presence of motor faults [J].

Ahmadi, Karim ;

Asadi, Davood ;

Nabavi-Chashmi, Seyed-Yaser ;

Tutsoy, Onder .

MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2023, 188

[2]

Bhardwaj P, 2019, AIAA SCITECH 2019 FORUM, DOI 10.2514/6.2019-1923

[3] Discrete-time Design and Stability Analysis for Nonlinear Incremental Fault-Tolerant Flight Control [J].

Chang, Jing ;

De Breuker, Roeland ;

Wang, Xuerui .

AIAA SCITECH 2022 FORUM, 2022,

[4] Neural-Networks Control for Hover to High-Speed-Level-Flight Transition of Ducted Fan UAV With Provable Stability [J].

Cheng, Zihuan ;

Pei, Hailong ;

Li, Shuai .

IEEE ACCESS, 2020, 8 :100135-100151

[5]

Fujimoto K., 2023, IECON 2023 49 ANN C, P1, DOI [10.1109/IECON51785.2023.10312055, DOI 10.1109/IECON51785.2023.10312055]

[6]

Han Han, 2019, Journal of Aerospace Power, V34, P1440, DOI 10.13224/j.cnki.jasp.2019.07.005

[7] Aerodynamic performance and analysis of a hovering micro-scale shrouded rotor in confined environment [J].

Han, Han ;

Xiang, Changle ;

Xu, Bin ;

Yu, Yong .

ADVANCES IN MECHANICAL ENGINEERING, 2019, 11 (04)

[8] In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control [J].

He, Xiang ;

Kou, Gordon ;

Calaf, Marc ;

Leang, Kam K. .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2019, 141 (07)

[9] Aerodynamic Performance of a Hovering Microrotor in Confined Environment [J].

Jardin, Thierry ;

Prothin, Sebastien ;

Magana, Cristian Garcia .

JOURNAL OF THE AMERICAN HELICOPTER SOCIETY, 2017, 62 (02)

[10] Cascaded and Non-Cascaded Incremental Nonlinear Dynamic Inversion Flight Control Applied to a Light Aircraft [J].

Jayaraman, Balaji ;

Ghosh, Ajoy Kanti .

2021 AUSTRALIAN & NEW ZEALAND CONTROL CONFERENCE (ANZCC), 2021, :189-194

← 1 2 3 →