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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)
作者部门机器人学研究室
会议名称2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
会议日期June 13-16, 2017
会议地点Miami, FL, USA
会议录名称2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
出版者IEEE
出版地New York
2017
页码560-566
收录类别EI ; CPCI(ISTP)
EI收录号20174704416848
WOS记录号WOS:000425255200070
产权排序1
ISSN号2373-6720
ISBN号978-1-5090-4494-8
摘要Tilt 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21241
专题机器人学研究室
通讯作者Theilliol, Didier
作者单位1.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
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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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