Model Predictive Control design for a convertible Quad Tilt-Wing UAV

Benkhoud, Khaled

doi:10.1109/ceit.2016.7929042

Cited by 16 publications

(10 citation statements)

References 12 publications

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“…Figure 5 shows the aircraft's takeoff trajectory from (3,3) to (0,0) and the target altitude = 15. Figure 6 shows the control inputs changes over time.…”

Section: )mentioning

confidence: 99%

“…The reason that tiltrotors have received such great attention is mainly because they combine the advantages of helicopters and fixed-wing aircraft [3,4]. Helicopters can take off and land vertically, but they cannot fly horizontally at a high speed.…”

Section: Introductionmentioning

confidence: 99%

“…In previous studies on multimodal aircraft, many researchers have focused on quad tilt-wing (QTW) unmanned aerial vehicle (UAV) [3,[7][8][9][10][11]. This kind of aircraft transfers from quadrotor helicopter to airplane by turning wings.…”

Section: Introductionmentioning

confidence: 99%

“…And a linear quadratic regulator (LQR) controller was proposed to stabilize vertical flight. Benkhoud [3] utilized Model Predictive Control (MPC) approach to stabilize vehicle attitude and track its trajectory. And the simulation results showed the effectiveness of the approach.…”

Section: Introductionmentioning

confidence: 99%

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Mathematical Modeling and Modal Switching Control of a Novel Tiltrotor UAV

Kong

2018

Journal of Robotics

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This paper concentrates on the flight control of a novel tiltrotor aircraft with fixed wings. This kind of aircraft has two flight modes and a transition mode. In the phase of vertical take off and landing (VTOL), the aircraft can operate as a quadrotor helicopter. And in the phase of horizontal flight, the aircraft is in the normal airplane mode. The transition mode is between these two flight modes. In this part of work, a novel tiltrotor aircraft was presented since transition mode is achieved by tilting the front dual tiltrotor (DTR) and the mathematical model was established. The classical PID method was used during the phase of VTOL and the numerical results were given and the simulation shows good control effect. A nonlinear control law based on backstepping was proposed to achieve a stable transition from vertical flight to horizontal flight. And the numerical results show that the flight mode could transit stably which shows the effectiveness of the control approach. Finally, the vertical flight experiment has been carried out on DTR aircraft and the attitude was stable.

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“…Figure 5 shows the aircraft's takeoff trajectory from (3,3) to (0,0) and the target altitude = 15. Figure 6 shows the control inputs changes over time.…”

Section: )mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Mathematical Modeling and Modal Switching Control of a Novel Tiltrotor UAV

Kong

2018

Journal of Robotics

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“…The other advantage of the NQTAUV is that it maintains a level body attitude while moving forward, producing minimum extra hydrodynamic torque and reducing drag force. Quad-tilt rotors provide AUV pitch control within 0∼10 • without horizontal motion [12].…”

Section: Introductionmentioning

confidence: 99%

Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle

Wang

Zhao

et al. 2018

Applied Sciences

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This paper proposes a Negative-buoyancy Quad Tilt-rotor Autonomous Underwater Vehicle (NQTAUV), for which an attitude-tracking controller is designed for the hover and transition modes based on a disturbance-rejection control scheme. First, the structure of NQTAUV is illustrated, a mathematical model based on the Rodrigues parameters is proposed, and the attitude-tracking error model is derived. To simplify the disturbance-observer design procedure, a disturbance observer with a single parameter was designed to estimate the disturbance torque acting on the vehicle. The controller was designed to track the target attitude, and the stability of the whole system is analyzed. Finally, the performance of the proposed method was validated by three experiments. The primary benefit of the proposed method is the simplicity of its tuning and implementation.

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