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Transition control of tilt rotor unmanned aerial vehicle based on multi-model adaptive method
Liu Z(刘重); Theilliol, Didier; Yang LY(杨丽英); He YQ(何玉庆); Han JD(韩建达)
Department机器人学研究室
Conference Name2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Conference DateJune 13-16, 2017
Conference PlaceMiami, FL, USA
Source Publication2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages560-566
Indexed ByEI ; CPCI(ISTP)
EI Accession number20174704416848
WOS IDWOS:000425255200070
Contribution Rank1
ISSN2373-6720
ISBN978-1-5090-4494-8
AbstractTilt rotor unmanned aerial vehicle (TRUAV) with ability of hovering and high-speed cruise has attached much attention, but its transition control is still a difficult point because of varying dynamics. This paper proposes a multi-model adaptive control (MMAC) method for a quad-TRUAV, and the stability in the transition procedure could be ensured by considering corresponding dynamics. For safe transition, tilt corridor is considered firstly, and actual flight status should locate within it. Then, the MMAC controller is constructed according to mode probabilities, which are calculated by solving a quadratic programming problem based on a set of input-output plant models. Compared with typical gain scheduling control, this method could ensure transition stability more effectively.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21241
Collection机器人学研究室
Corresponding AuthorTheilliol, Didier
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
2.CRAN UMR 7039, CNRS, University of Lorraine, Faculte des Sciences et Techniques, B.P. 70239, Vandoeuvre-Les-Nancy, France
Recommended Citation
GB/T 7714
Liu Z,Theilliol, Didier,Yang LY,et al. Transition control of tilt rotor unmanned aerial vehicle based on multi-model adaptive method[C]. New York:IEEE,2017:560-566.
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