A discrete robust adaptive control of a tilt-rotor UAV for an enlarged flight envelope

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dc.creatorM. A. Santos
dc.creatorD. N. Cardoso
dc.creatorBrenner Santana Rego
dc.creatorGuilherme Vianna Raffo
dc.creatorSergio Esteban
dc.date.accessioned2025-04-01T16:35:37Z
dc.date.accessioned2025-09-08T23:28:00Z
dc.date.available2025-04-01T16:35:37Z
dc.date.issued2017
dc.identifier.doi10.1109/CDC.2017.8264431
dc.identifier.urihttps://hdl.handle.net/1843/81178
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectAerodinâmica
dc.subject.otherAerodynamics , Vehicle dynamics , Unmanned aerial vehicles , Mathematical model , Servomotors , Computational modeling , Aircraft
dc.subject.otherAdaptive Control , Unmanned Aerial Vehicles , Robust Control , Discrete Control , Robust Adaptive Control , Flight Envelope , Linear Model , Dynamic Model , Nonlinear Model , Mixed Strategy , Adaptive Scheme , Convex Combination , Reference Trajectory , Adaptive Law , Feedback Gain , Nonlinear Dynamic Model , Forward Velocity , Path Tracking , Pole Placement , Trajectories In Order , Linear Control , Flight Mode , Inertia Matrix , Canonical Form , Gravitational Vector , Linear Matrix Inequalities , Body Frame , Kinetic Energy , Kinematic Control , Angle Of Attack
dc.titleA discrete robust adaptive control of a tilt-rotor UAV for an enlarged flight envelope
dc.typeArtigo de evento
local.citation.epage5214
local.citation.spage5208
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 performance. A nonlinear dynamic model is obtained through Euler-Lagrange formulation and linearized around a reference trajectory in order to obtain a linear parameter-varying model. The forward velocity is treated as an uncertain parameter, and the linearized system is represented as a set of polytopes with nonempty intersection regarding the forward velocity. Feedback gains are computed for each of the vertices of the polytopes using a discrete mixed H2/H∞ control approach with pole placement constraints strategy. The resultant feedback gain, which is able to control the system inside a given polytope, is obtained using an adaptive law through an optimal convex combination of the vertices' gains. Finally, an adaptive mixing scheme is used to smoothly schedule the feedback gains between the polytopes.
local.publisher.countryAustrália
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8264431

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