Design of Flight Control System for a Novel Tilt-Rotor UAV
This paper presents the control system design process of a novel tilt-rotor unmanned aerial vehicle (TRUAV). First, a new configuration scheme with the tilting rotors is designed. Then, the detailed nonlinear mathematical model is established, and the parameters are acquired from designed experiment...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/4757381 |
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| _version_ | 1832568156836593664 |
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| author | Zaibin Chen Hongguang Jia |
| author_facet | Zaibin Chen Hongguang Jia |
| author_sort | Zaibin Chen |
| collection | DOAJ |
| description | This paper presents the control system design process of a novel tilt-rotor unmanned aerial vehicle (TRUAV). First, a new configuration scheme with the tilting rotors is designed. Then, the detailed nonlinear mathematical model is established, and the parameters are acquired from designed experiments and numerical analyses. For control design purposes, the dynamics equation is linearized around the hovering equilibrium point, and a control allocation method based on trim calculation is developed. To deal with the actuator saturation and uncertain disturbance problems for the novel TRUAV, an improved flight control law based on the combination of the robust servo linear quadratic regulator (RSLQR) optimal control and the extended state observer (ESO) is proposed. The designed flight control law has a simple structure with a high reliability in engineering. Simulations and hovering flight tests are carried out to verify the effectiveness of the mathematical model and the proposed control strategy. |
| format | Article |
| id | doaj-art-91ad6d0915074984b61c3745f5c995ab |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-91ad6d0915074984b61c3745f5c995ab2025-02-03T00:59:42ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/47573814757381Design of Flight Control System for a Novel Tilt-Rotor UAVZaibin Chen0Hongguang Jia1Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, No. 3888, Dongnanhu Rd., Changchun 130033, Jilin, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, No. 3888, Dongnanhu Rd., Changchun 130033, Jilin, ChinaThis paper presents the control system design process of a novel tilt-rotor unmanned aerial vehicle (TRUAV). First, a new configuration scheme with the tilting rotors is designed. Then, the detailed nonlinear mathematical model is established, and the parameters are acquired from designed experiments and numerical analyses. For control design purposes, the dynamics equation is linearized around the hovering equilibrium point, and a control allocation method based on trim calculation is developed. To deal with the actuator saturation and uncertain disturbance problems for the novel TRUAV, an improved flight control law based on the combination of the robust servo linear quadratic regulator (RSLQR) optimal control and the extended state observer (ESO) is proposed. The designed flight control law has a simple structure with a high reliability in engineering. Simulations and hovering flight tests are carried out to verify the effectiveness of the mathematical model and the proposed control strategy.http://dx.doi.org/10.1155/2020/4757381 |
| spellingShingle | Zaibin Chen Hongguang Jia Design of Flight Control System for a Novel Tilt-Rotor UAV Complexity |
| title | Design of Flight Control System for a Novel Tilt-Rotor UAV |
| title_full | Design of Flight Control System for a Novel Tilt-Rotor UAV |
| title_fullStr | Design of Flight Control System for a Novel Tilt-Rotor UAV |
| title_full_unstemmed | Design of Flight Control System for a Novel Tilt-Rotor UAV |
| title_short | Design of Flight Control System for a Novel Tilt-Rotor UAV |
| title_sort | design of flight control system for a novel tilt rotor uav |
| url | http://dx.doi.org/10.1155/2020/4757381 |
| work_keys_str_mv | AT zaibinchen designofflightcontrolsystemforanoveltiltrotoruav AT hongguangjia designofflightcontrolsystemforanoveltiltrotoruav |