Adaptive attitude controller design for tail-sitter unmanned aerial vehicles
Abstract
Tail-sitter unmanned aerial vehicles have two flight modes: they can fly long distances at high cruising speeds as fixed-wing aircrafts; or hover, take off, and land vertically as rotary-wing aircrafts. The tail-sitter dynamics involves serious nonlinearities and high uncertainties, especially in the two flight mode transitions. In this article, an adaptive control approach is proposed for a class of tail-sitter unmanned aerial vehicles to achieve the robustness properties. The control torque allocation problem is addressed based on the dynamic pressure in the transition flight. The proposed control method does not need to switch the coordinate system, the controller structure, or the controller parameters in different flight modes. It is proven that the attitude tracking errors can converge into a given neighborhood of the origin in finite time. Simulation results are presented to show the advantages of the proposed adaptive control method.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- May 08, 2020
- Source ID
- 10.1177/1077546320925350
Entities
People
- Deyuan Liu
- Frank L. Lewis
- Hao Liu
- Jiansong Zhang
Organizations
- Beihang University
- National Natural Science Foundation of China
- Office of Naval Research
- University of Texas at Arlington