SIA OpenIR  > 机器人学研究室
Alternative TitlePassivity-based control and flight experiment of quad-tilt rotor unmanned aerial vehicle
刘重1; 何玉庆2,3; 谷丰2,3; 杨丽英2,3; 韩建达2,3,4
Source Publication控制理论与应用
Contribution Rank2
Funding Organization国家重点研发计划项目(2018YFB1307500) ; 国家自然科学基金项目(91748130,91948202) ; 中国科学院青年创新促进会项目(2018232)资助
Keyword无源控制 互联和阻尼分配 倾转旋翼 无人机 飞行控制


Other Abstract

The tilt rotor unmanned aerial vehicle (TRUAV) attracts lots of attention due to the abilities of hovering and high-speed cruise, but its varying structure and serious nonlinearity make the flight control design difficult. To address the flight control of a quad-TRUAV, the study in this paper improves interconnection and damping assignment passivity based control (IDA-PBC) to propose its attitude and altitude control methods. With the formulation of the quad-TRUAV dynamics, its attitude and position models could be represented as port-controlled Hamiltonian (PCH) forms, and the rotortilt angle therein is focused on to analyze and simplify the dynamics. With the above model simplification, the improved IDA-PBC with integral action is used to design the attitude and altitude controllers, and the stability analysis is considered further based on the concept of passivity. Finally, the simulation results with comparisons and cruise flight experiment including the flight mode transition are presented to illustrate the effectiveness of the proposed control methods.

Document Type期刊论文
Corresponding Author刘重
Recommended Citation
GB/T 7714
刘重,何玉庆,谷丰,等. 四倾转旋翼无人机无源控制与飞行实验[J]. 控制理论与应用,2021:1-12.
APA 刘重,何玉庆,谷丰,杨丽英,&韩建达.(2021).四倾转旋翼无人机无源控制与飞行实验.控制理论与应用,1-12.
MLA 刘重,et al."四倾转旋翼无人机无源控制与飞行实验".控制理论与应用 (2021):1-12.
Files in This Item:
File Name/Size DocType Version Access License
四倾转旋翼无人机无源控制与飞行实验.pd(1358KB)期刊论文出版稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[刘重]'s Articles
[何玉庆]'s Articles
[谷丰]'s Articles
Baidu academic
Similar articles in Baidu academic
[刘重]'s Articles
[何玉庆]'s Articles
[谷丰]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[刘重]'s Articles
[何玉庆]'s Articles
[谷丰]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 四倾转旋翼无人机无源控制与飞行实验.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.