Transition control of tilt rotor unmanned aerial vehicle based on multi-model adaptive method

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Transition control of tilt rotor unmanned aerial vehicle based on multi-model adaptive method
	Yang LY(杨丽英); Han JD(韩建达); Liu Z(刘重); Theilliol, Didier ; He YQ(何玉庆)
	2017
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
页码	560-566
通讯作者	Theilliol, Didier
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2373-6720
ISBN号	978-1-5090-4494-8
WOS记录号	WOS:000425255200070
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21241]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.CRAN UMR 7039, CNRS, University of Lorraine, Faculte des Sciences et Techniques, B.P. 70239, Vandoeuvre-Les-Nancy, France 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
推荐引用方式 GB/T 7714	Yang LY,Han JD,Liu Z,et al. Transition control of tilt rotor unmanned aerial vehicle based on multi-model adaptive method[C]. 见:2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017. Miami, FL, USA. June 13-16, 2017.