Nonlinear Cascade Control for a New Coaxial Tilt-rotor UAV View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2022-08-27

AUTHORS

Shengming Li, Zongyang Lv, Lin Feng, Yuhu Wu, Yingshun Li

ABSTRACT

This paper proposes a nonlinear control strategy for a newly-designed coaxial tilt-rotor (CTR) unmanned aerial vehicle (UAV), which is a special class of tilt-rotor (TR) UAVs with two pairs of coaxial rotors, two servos, and a rear rotor. The CTRUAV is an underactuated system, and the controller is designed in cascade form. The proposed controller includes two sub-controllers: an inner-loop attitude controller and an outer-loop velocity controller. Each sub-controller is proposed by using a backstepping-like feedback linearization method to control and stabilize the CTRUAV. The developed control strategy can realize the motion control for the CTRUAV. The asymptotic stability of the resulting closed-loop system is analyzed by the Lyapunov method. Finally, simulations and real flight tests are performed to validate the effectiveness of the proposed control system. More... »

PAGES

2948-2958

References to SciGraph publications

  • 2018-09-20. Decentralized Backstepping Control of a Quadrotor with Tilted-rotor under Wind Gusts in INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS
  • 2011-05-12. Assessment of Nonlinear Structural Response in A400M GVT in STRUCTURAL DYNAMICS, VOLUME 3
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    http://scigraph.springernature.com/pub.10.1007/s12555-021-0105-1

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    http://dx.doi.org/10.1007/s12555-021-0105-1

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