A nonlinear W-infinity controller of a tilt-rotor UAV for trajectory tracking

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dc.creatorDaniel N. Cardoso
dc.creatorSergio Esteban
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-05-09T12:53:08Z
dc.date.accessioned2025-09-08T23:06:02Z
dc.date.available2025-05-09T12:53:08Z
dc.date.issued2019
dc.identifier.doi10.23919/ECC.2019.8795894
dc.identifier.urihttps://hdl.handle.net/1843/82178
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof18th European Control Conference (ECC)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subject.otherUnmanned Aerial Vehicles , Finance Code , Degrees Of Freedom , Control Design , Mechanical Systems , External Disturbances , Yaw Angle , Underactuated Systems , Center Of Mass , Actuator , Optimal Control , Right-wing , Equations Of Motion , Control Input , Angular Velocity , Force Generation , Tilt Angle , Inclination Angle , Nonlinear Control , Multibody System , Inertial Frame , Left-wing And Right-wing , Aerodynamic Forces , Inertia Matrix , Force Vector , Body Frame , Roll Angle , Pitch Angle , Nonlinear Control Problem
dc.titleA nonlinear W-infinity controller of a tilt-rotor UAV for trajectory tracking
dc.typeArtigo de evento
local.citation.epage934
local.citation.spage928
local.description.resumoThis work proposes a nonlinear W∞ controller for a convertible tilt-rotor Unmanned Aerial Vehicle (UAV) in order to solve the trajectory tracking problem during the helicopter-flight mode. The control design for such aircraft is challenging since it is a multi-body, highly-coupled, underactuated mechanical system. Therefore, a controller based on the novel nonlinear W∞ control approach is designed aiming to guide the translational position and yaw angle toward a desired trajectory, while the remaining degrees of freedom are stabilized. Numerical experiments are carried out to corroborate the efficiency of the control strategy demonstrating robustness, good transient performance and fast response against external disturbances.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8795894

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