Design and Control of a Novel Coaxial Tilt-Rotor UAV

被引：36

作者：

Lv, Zong-Yang ^{[1
,2
]}

Wu, Yuhu ^{[1
,2
]}

Zhao, Qing ^{[3
]}

Sun, Xi-Ming ^{[1
,2
]}

机构：

[1] Dalian Univ Technol, Key Lab Intelligent Control & Optimizat Ind Equip, Minist Educ, Dalian 116024, Peoples R China

[2] Dalian Univ Technol, Sch Control Sci & Engn, Dalian 116024, Peoples R China

[3] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 1H9, Canada

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2022年 / 69卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Rotors; Unmanned aerial vehicles; Prototypes; Drag; Force; Aerodynamics; Adaptation models; Adaptive control; asymptotic stability; coaxial tilt-rotor (CTR); unmanned aerial vehicle (UAV); TRAJECTORY TRACKING; FLIGHT CONTROL; QUADROTOR; SYSTEMS;

D O I：

10.1109/TIE.2021.3075886

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, the design and control of a new coaxial tilt-rotor unmanned aerial vehicle (CTRUAV) are presented. The CTRUAV is an electric-powered unmanned aerial vehicle with a special configuration, which is composed of two pairs of tiltable coaxial rotors and a rear rotor. A CTRUAV prototype has been designed by 3-D computer-aided design software and constructed according to the designing scheme. The dynamic model of a CTRUAV is derived by utilizing the Euler-Lagrange equation, which considers the special features of the coaxial rotors and air drag forces on the CTRUAV. An adaptive controller is developed to realize motion control for the CTRUAV. The adaptive controller includes two subcontrollers: an inner-loop attitude controller and an outer-loop velocity controller. The stability of the resulting closed-loop CTRUAV system is analyzed via the Lyapunov method. Finally, several simulations and real experimental tests are implemented to validate the effectiveness of the developed CTRUAV system.

引用

页码：3810 / 3821

页数：12

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