Controller Design and Flight Experiments for the Dual Tilt Rotor Unmanned Aerial Vehicle in Helicopter Mode
文献类型：会议论文
| 作者 | Zheng RJ(郑锐剑)1,3,4; Gu F(谷丰)3,4 ; Liu Z(刘重)2,3,4; Zhou H(周浩3,4; He YQ(何玉庆)3,4
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| 出版日期 | 2020 |
| 会议日期 | SEP 01-04, 2020 |
| 会议地点 | Athens, GREECE |
| 页码 | 845-853 |
| 英文摘要 | Vertical take-off and landing (VTOL) are the important flying stage of tilt rotor unmanned aerial vehicles (TR-UAV) in helicopter mode. Therefore, the performance of the controller for the helicopter mode will directly impact the safety of DTR-UAV during VTOL stage. To solve this problem, a passivity theory based controller for helicopter mode of dual tilt rotor UAV (DTR-UAV) is proposed and the stability of the method is proved in this work. In the first, the system model of dual tilt rotor is built and divided into longitudinal and lateral dynamic model. Then based on the passivity theory, the robust controller is designed and proved. Finally and more importantly, a dual tilt rotor experiment platform is designed and implemented to verify the feasibility and validity of the proposed method. The results of simulation and experiment show the good performance of the proposed controller. |
| 源文献作者 | IEEE, IEEE CSS, IEEE Robot & Automat Soc, MCA, ICUAS Assoc, Univ Denver, Univ Denver, Daniel Felix Ritchie Sch Engn & Comp Sci, Tech Univ Crete, Sch Prod Engn & Management, Democritus Univ Thrace, NYU Abu Dhabi, Aristotle Univ Thessaloniki, Dept Mech Engn, Lab Fluid Mech & Trubomachinery, ALTUS, DRONE NODES, Journal Unmanned Vehicle Syst |
| 产权排序 | 1 |
| 会议录 | 2020 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'20)
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| 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 | 978-1-7281-4278-4 |
| WOS记录号 | WOS:000612041300112 |
| 源URL | [http://ir.sia.cn/handle/173321/28319]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Zheng RJ(郑锐剑) |
| 作者单位 | 1.College of Information Science and Engineering, Northeastern University, Shenyang 110819, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110819, China |
| 推荐引用方式 GB/T 7714 | Zheng RJ,Gu F,Liu Z,et al. Controller Design and Flight Experiments for the Dual Tilt Rotor Unmanned Aerial Vehicle in Helicopter Mode[C]. 见:. Athens, GREECE. SEP 01-04, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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