Modeling and Passivity-Based Control for a convertible fixed-wing VTOL

被引：15

作者：

Duran-Delfin, J. E. ^{[1
]}

Garcia-Beltran, C. D. ^{[1
]}

Guerrero-Sanchez, M. E. ^{[2
]}

Valencia-Palomo, G. ^{[3
]}

Hernandez-Gonzalez, O. ^{[3
]}

机构：

[1] Tecnol Nacl Mexico, Ctr Nacl Invest & Desarrollo Tecnol, Interior Internado Palmira S-N, Cuernavaca 62490, Morelos, Mexico

[2] IT Hermosillo, IIxM CONAHCYT Tecnol Nacl Mexico, Av Tec 115, Hermosillo 83170, Mexico

[3] IT Hermosillo, Tecnol Nacl Mex IT Saltillo, Av Tec 115, Hermosillo 25280, Mexico

来源：

APPLIED MATHEMATICS AND COMPUTATION | 2024年 / 461卷

关键词：

Convertible VTOL; Hybrid UAV; Passivity-Based Control; Control allocation; TRANSITION; TRACKING;

D O I：

10.1016/j.amc.2023.128298

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

This article presents a mathematical model and a controller for a convertible fixed-wing Vertical Take-Off and Landing (VTOL). The mathematical model considers the aerodynamic forces generated by the motors. The developed Passivity-Based Control (PBC) law stabilizes the rotational and translational dynamics of a convertible Unmanned Aerial Vehicle (UAV) in the transition stages of cruise-stationary flight. The control objective is to allow the realization of the two flight regimes of a convertible VTOL along a trajectory. A control assignment technique is also presented that allows the decoupling of the angles of the front motors so that they can have different positions. Finally, numerical simulations are carried out to validate the performance of the presented algorithm. The results indicate that this controller can provide enough maneuverability to track different trajectories with good performance.

引用

页数：13

共 22 条

[1] Nonlinear model predictive control and guidance for a propeller-tilting hybrid unmanned air vehicle [J].

Allenspach, Mike ;

Ducard, Guillaume Jacques Joseph .

AUTOMATICA, 2021, 132

[2] Lightweight unmanned aerial vehicles will revolutionize spatial ecology [J].

Anderson, Karen ;

Gaston, Kevin J. .

FRONTIERS IN ECOLOGY AND THE ENVIRONMENT, 2013, 11 (03) :138-146

[3]

Bauersfeld L, 2020, MED C CONTR AUTOMAT, P703, DOI [10.1109/med48518.2020.9183031, 10.1109/MED48518.2020.9183031]

[4] MPC Flight Control for a Tilt-Rotor VTOL Aircraft [J].

Bauersfeld, Leonard ;

Spannagl, Lukas ;

Ducard, Guillaume J. J. ;

Onder, Christopher H. .

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2021, 57 (04) :2395-2409

[5]

Bautista JA, 2017, INT CONF UNMAN AIRCR, P672

[6]

Beard R, 2012, Small Unmanned Aircraft: Theory and Practice, DOI [10.2514/6.2016-0512, DOI 10.2514/6.2016-0512]

[7] Real-time stabilization and tracking of a four-rotor mini rotorcraft [J].

Castillo, P ;

Dzul, A ;

Lozano, R .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2004, 12 (04) :510-516

[8] Controller Design and Flight Test of the High-lift Hybrid Mode UAV [J].

Chi, Jiacheng ;

Wang, Yujie ;

Chen, Qingyang ;

Wang, Peng ;

Hou, Zhongxi .

2022 6TH INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES (ICRAS 2022), 2022, :62-67

[9] Lie-Group Type Quadcopter Control Design by Dynamics Replacement and the Virtual Attractive-Repulsive Potentials Theory [J].

Fiori, Simone ;

Bigelli, Luca ;

Polenta, Federico .

MATHEMATICS, 2022, 10 (07)

[10]

Gryte K, 2018, INT CONF UNMAN AIRCR, P826, DOI 10.1109/ICUAS.2018.8453370

← 1 2 3 →