论文信息 - Control strategy for the transition flight of a tail-sitter UAV

Control strategy for the transition flight of a tail-sitter UAV

The tail-sitter unmanned aerial vehicle (UAV) is a kind of vertical take-off and landing (VTOL) UAV which has the merits of both fixed-wing and rotary-wing. The tail-sitter UAV in this paper has three flight modes. The most important stage is the transition stage. The model for the transition stage is established and a transition flight strategy is constructed so that the UAV can change vertical takeoff mode to cruise mode stably. A nonlinear extended state observer is presented to estimate the unknown nonlinear terms, the uncertainties and external disturbances during mode transition. The backstepping controller based on the observer is designed to implement transition flight mode. A numerical simulation is given to demonstrate the effectiveness of the obtained results.

[1] Jingqing Han,et al. From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[2] José Ángel Acosta,et al. Control of the longitudinal flight dynamics of an UAV using adaptive backstepping , 2011 .

[3] Lakmal Seneviratne,et al. A review on the platform design, dynamic modeling and control of hybrid UAVs , 2015, 2015 International Conference on Unmanned Aircraft Systems (ICUAS).

[4] Hu Qion. Real- time Simulation of Flight Control System Based on ADRC Technique , 2014 .

[5] R. Lozano,et al. Modeling and control strategy for the transition of a convertible tail-sitter UAV , 2007, 2007 European Control Conference (ECC).

[6] Atsushi Konno,et al. Transition between Level Flight and Hovering of a Tail-Sitter Vertical Takeoff and Landing Aerial Robot , 2010, Adv. Robotics.

[7] Zengqiang Chen,et al. Modeling and control of an agile tail-sitter aircraft , 2015, J. Frankl. Inst..

[8] Rogelio Lozano,et al. Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind , 2013, J. Intell. Robotic Syst..

[9] David Hyunchul Shim,et al. Development and Application of Controller for Transition Flight of Tail-Sitter UAV , 2012, J. Intell. Robotic Syst..

[10] Sven Lange,et al. Autonomous landing for a multirotor UAV using vision , 2008 .

[11] Rogelio Lozano,et al. Attitude Stabilization with Real-time Experiments of a Tail-sitter Aircraft in Horizontal Flight , 2012, J. Intell. Robotic Syst..