Model, Control, and Realistic Visual 3D Simulation of VTOL Fixed-Wing Transition Flight Considering Ground Effect

Irmawan, Erwhin; Harjoko, Agus; Dharmawan, Andi

doi:10.3390/drones7050330

Cited by 3 publications

(1 citation statement)

References 36 publications

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“…Additionally, some control strategies, such as the output feedback tracking control law [12], the adaptive neural network backstepping control law [13], and the robust dynamic surface tracking control law [14], were presented to solve the control problems of planar VTOL aircraft. Furthermore, many scholars have conducted research on the control problems of fixed-wing VTOL and electric VTOL; relevant results have been found in [15][16][17][18][19]. It is worth noting that as a typical underactuated system, designing a good control law is particularly important for the tracking control of VTOL aircraft.…”

Section: Introductionmentioning

confidence: 99%

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft using Global Fast Terminal Sliding Mode Control

Deng

Huang

et al. 2023

Mathematics

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In this work, the position and attitude tracking finite-time adaptive control problem of a type of vertical take-off and landing (VTOL) aircraft system is studied. Here, the dynamic of the VTOL aircraft is subjected to external disturbances and unknown nonlinearities. Firstly, radial basis function neural networks are introduced to approximate these unknown nonlinearities, and adaptive weight update laws are proposed to replace unknown ideal weights. Secondly, for the errors generated in the approximation process and the external disturbances of the aircraft system, adaptive parameter update laws are presented. After that, based on the designed global fast terminal sliding mode control functions and adaptive update laws, we present the position tracking control laws and the roll angle control law. Then, based on this, the adaptive global fast terminal sliding control laws for the given aircraft system are finally obtained. Meanwhile, the stability of the aircraft control system is proven by using Lyapunov stability theory and designed adaptive control laws. It is not only ensured that the outputs of the aircraft system can track the given trajectories, but also ensured that the tracking errors can converge to approximately zero within a finite time. Finally, the validity of the designed adaptive control laws is verified through three numerical examples. It can be obtained that the finite-time tracking problems of the given aircraft system can be achieved at 18.8766 s and 14.6340 s under the given parameters. The results are consistent with the theoretical analysis. In addition, under the control laws proposed in this work, the aircraft system can achieve tracking after 9.443 s and 9.674 s and the tracking errors are basically close to zero, which is significantly superior to other control methods considered in this work.

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Section: Introductionmentioning

confidence: 99%

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft using Global Fast Terminal Sliding Mode Control

Deng

Huang

et al. 2023

Mathematics

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Evaluation of a Simplified Model for the Estimation of Consumption in Small Electrical VTOL UAVs

Saponi,

Amici,

Borboni

et al. 2024

Mechanisms and Machine Science

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Research on Scenario Modeling for V-Tail Fixed-Wing UAV Dynamic Obstacle Avoidance

Huang,

Tang,

Yang

et al. 2023

Drones

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With the advantages of long-range flight and high payload capacity, large fixed-wing UAVs are often used in anti-terrorism missions, disaster surveillance, and emergency supply delivery. In the existing research, there is little research on the 3D model design of the V-tail fixed-wing UAV and 3D flight environment modeling. The study focuses on designing a comprehensive simulation environment using Gazebo and ROS, referencing existing large fixed-wing UAVs, to design a V-tail aircraft, incorporating realistic aircraft dynamics, aerodynamics, and flight controls. Additionally, we present a simulation environment modeling approach tailored for obstacle avoidance in no-fly zones, and have created a 3D flight environment in Gazebo, generating a large-scale terrain map based on the original grayscale heightmap. This terrain map is used to simulate potential mountainous terrain threats that a fixed-wing UAV might encounter during mission execution. We have also introduced wind disturbances and other specific no-fly zones. We integrated the V-tail fixed-wing aircraft model into the 3D flight environment in Gazebo and designed PID controllers to stabilize the aircraft’s flight attitude.

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Model, Control, and Realistic Visual 3D Simulation of VTOL Fixed-Wing Transition Flight Considering Ground Effect

Cited by 3 publications

References 36 publications

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft using Global Fast Terminal Sliding Mode Control

Position and Attitude Tracking Finite-Time Adaptive Control for a VTOL Aircraft using Global Fast Terminal Sliding Mode Control

Evaluation of a Simplified Model for the Estimation of Consumption in Small Electrical VTOL UAVs

Research on Scenario Modeling for V-Tail Fixed-Wing UAV Dynamic Obstacle Avoidance

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