Nonlinear Dynamic Inversion Control of VTOL Tilt-Wing UAV

被引：0

作者：

Wang Fengqiu ^{[1
]}

Wang Peng ^{[1
]}

Deng Hongde ^{[1
]}

Chen Bin ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Natl Key Lab Sci & Technol UAV, Xian, Peoples R China

来源：

2018 EIGHTH INTERNATIONAL CONFERENCE ON INSTRUMENTATION AND MEASUREMENT, COMPUTER, COMMUNICATION AND CONTROL (IMCCC 2018) | 2018年

关键词：

VTOL UAV; tilt-wing; nonlinear dynamic inversion; control allocation; parameter perturbation;

D O I：

10.1109/IMCCC.2018.00243

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Tilt-wing vertical takeoff and landing (VTOL) UAV is a combination of long endurance and VTOL capability. The highly nonlinear dynamics and multi-actuator control during mode transition are the two key problems. The coupling between pitch angle and airspeed during transition is critical for the VTOL tilt-wing UAV. Firstly, the transition must ensure the control of the pitch angle. A nonlinear dynamic inversion (NDI) controller is designed to track pitch angle command. The controller is divided into fast and slow subsystems based on the principle of time-scale separation. Control allocation is used to deal with multi-actuators during mode transition. Simulation results show that, compared with the PID controller, the NDI controller can achieve better tracking performance, and it is robust to aerodynamic parameter perturbation.

引用

页码：1170 / 1174

页数：5