Nonlinear Control of a Single Tail Tilt Servomotor Tri-Rotor Ducted VTOL-UAV
文献类型：期刊论文
| 作者 | Hu YP(胡延鹏)2,3; Guo, Jin2,3; Ying, Pei1; Zeng, Guannan1; Chen, Nanyu2 |
| 刊名 | AEROSPACE
 |
| 出版日期 | 2022-06-01 |
| 卷号 | 9期号:6页码:17 |
| 关键词 | tail rotor tilting three ducted fan VTOL-UAV sliding mode NDI MPC E-SSPC super-twisting disturbance observer |
| DOI | 10.3390/aerospace9060296 |
| 通讯作者 | Chen, Nanyu(chennanyu@imech.ac.cn) |
| 英文摘要 | This paper explores a novel single tail tilt servomotor tri-rotor ducted vertical takeoff and landing unmanned aerial vehicle system (VTOL-UAV), and proposes a compound control method combining disturbance observer, model predictive control (MPC) and sliding mode nonlinear dynamic inversion (NDI), and realizes the robust tracking control of the VTOL-UAV trajectory under compound disturbance. Specifically, the inner loop adopts nonlinear dynamic inverse which improved by sliding mode to realize the pseudo linearization of the system. The outer loop adopts the model predictive control based on the E-SSPC (State Space Predictive Controller based on the Error model) method, on this basis, the sliding mode disturbance observer based on fast Super-twisting algorithm is introduced into the position loop to observe and compensate the disturbance in real time, which improves the robustness of the outer loop system. Numerical simulation experiments verify the effectiveness and robustness of the control method. Finally, the flight test of the VTOL-UAV is carried out. |
| 分类号 | 二类 |
| 资助项目 | Beijing Natural Science Foundation[4222050] ; National Natural Science Foundation of China[62173030] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000816479900001 |
| 资助机构 | Beijing Natural Science Foundation ; National Natural Science Foundation of China |
| 其他责任者 | Chen, Nanyu |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/89718]  |
| 专题 | 力学研究所_高温气体动力学国家重点实验室 |
| 作者单位 | 1.Chinese Acad Sci, Inst Engn Thermophys, Beijing 100083, Peoples R China 2.Chinese Acad Sci, Inst Mech, Beijing 100083, Peoples R China; 3.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China; |
| 推荐引用方式 GB/T 7714 | Hu YP,Guo, Jin,Ying, Pei,et al. Nonlinear Control of a Single Tail Tilt Servomotor Tri-Rotor Ducted VTOL-UAV[J]. AEROSPACE,2022,9(6):17. |
| APA | 胡延鹏,Guo, Jin,Ying, Pei,Zeng, Guannan,&Chen, Nanyu.(2022).Nonlinear Control of a Single Tail Tilt Servomotor Tri-Rotor Ducted VTOL-UAV.AEROSPACE,9(6),17. |
| MLA | 胡延鹏,et al."Nonlinear Control of a Single Tail Tilt Servomotor Tri-Rotor Ducted VTOL-UAV".AEROSPACE 9.6(2022):17. |
入库方式： OAI收割
来源：力学研究所
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