ICUAS 2019 Paper Abstract

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Paper WeC4.6

XU, WEI (University of Hong Kong), Gu, Haowei (Hong Kong University of Science and Technology), Qin, Youming (University of Hong Kong), Lin, Jiarong (The University of Hong Kong), Zhang, Fu (University of Hong Kong)

Full Attitude Control of an Efficient Quadrotor Tail-Sitter VTOL UAV with Flexible Modes

Scheduled for presentation during the Regular Session "Control Architectures III" (WeC4), Wednesday, June 12, 2019, 18:40−19:00, Savannah

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Control Architectures

Abstract

In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper concentrates on the design of the attitude controller and the altitude controller. For the attitude control, the controller’s parameters and filters are optimized based on the frequency response model which is identified from the sweep experiment. As a result, the effect of system flexible modes is easily compensated in frequency-domain by using a notch filter, and the resulting attitude loop shows superior tracking performance and robustness. In the coordinated flight condition, the altitude controller is structured as the feedforward-feedback parallel controller. The feedforward thrust command is calculated based on the current speed and the pitch angle. Tests in hovering, forward accelerating and forward decelerating flights have been conducted to verify the proposed control system.

 

 

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