A robust adaptive mixing control for improved forward flight of a tilt-rotor UAV

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dc.creatorDaniel Neri Cardoso
dc.creatorGuilherme Vianna Raffo
dc.creatorSergio Esteban
dc.date.accessioned2025-03-24T15:11:50Z
dc.date.accessioned2025-09-09T00:24:35Z
dc.date.available2025-03-24T15:11:50Z
dc.date.issued2016
dc.identifier.doi10.1109/ITSC.2016.7795745
dc.identifier.urihttps://hdl.handle.net/1843/80852
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.rightsAcesso Restrito
dc.subjectSistemas inteligentes - Transportes
dc.subjectAeronave não tripulada
dc.subject.otherAerodynamics , Robustness , Rotors , Jacobian matrices , Adaptation models , Mathematical model , Propellers
dc.subject.otherAdaptive Control , Unmanned Aerial Vehicles , Robust Control , Robust Adaptive Control , Control Strategy , Dynamic Model , Equations Of Motion , Mixed Strategy , Velocity Range , Aerodynamic Forces , Circular Trajectory , Forward Velocity , Path Tracking , Wind Disturbance , Kinetic Energy , Optimal Control , Parameter Uncertainty , Transient Response , Force Generation , Adaptive Control Scheme , Linear Control , Inertia Matrix , Linear Matrix Inequalities , Time-varying Disturbances , Gravitational Vector , Body Frame , Kinematic Control , Inertial Frame , Coriolis Matrix
dc.titleA robust adaptive mixing control for improved forward flight of a tilt-rotor UAV
dc.typeArtigo de evento
local.citation.epage1437
local.citation.spage1432
local.description.resumoThis work presents the modeling and control of a tilt-rotor UAV, with tail controlled surfaces, for path tracking with improved forward flight. The dynamic model is obtained using the Euler-Lagrange formulation considering the aerodynamic forces and torques exerted on the horizontal and vertical stabilizers, and fuselage. For control design purposes, the equations of motion are linearized around different operation points to cover a large range of forward velocity. Based on these linearized dynamic models, a mixed H2/H∞ robust controller is designed for each operation point. Therefore, an adaptive mixing scheme is used to perform an on-line smooth gain-scheduling between them. Simulation results show the control strategy efficiency when the UAV is designated to have a forward acceleration and perform a circular trajectory subject to a wind disturbance.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7795745

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