Zou, Xu (School of Aviation, Northwestern Polytechnical University), Liu, Zhenbao (Northwestern Polytechnical University), Zhao, Wen (School of Aviation, Northwestern Polytechnical University), Chao, Zhang (Northwestern Polytechnical University)

Optimal Hovering Control of a Tail-Sitter Via Model-Free Fast Terminal Slide Mode Controller and Cuckoo Search Algorithm

Scheduled for presentation during the Regular Session "Control Design IV" (FrA2), Friday, June 18, 2021, 09:40−10:00, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper presents the design process of the model-free-based fast terminal slide mode (MF-FTSM) controller and the implementation of the control structure, for realizing the stability control of the tail-sitter UAV during the hovering process under the interference of the external environment. The designed control algorithm merges the abilities of the fast terminal slide mode control and the model-free control technology so that it has a fast convergence speed and can compensate for the unknown part of the dynamic model. Besides, the cuckoo search method is applied to this study for optimizing the parameters of the designed controller. Finally, verified by the real flight test, the proposed controller has better controlling effect and is more robust than the common slide mode controller, which benefits engineering application.