Modeling and control of a tilt tri-rotor airplane

Ta, Duc Anh; Fantoni, Isabelle; Lozano, Rogelio

doi:10.1109/acc.2012.6315155

Cited by 19 publications

(4 citation statements)

References 7 publications

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“…However, due to the limited number of linearized points, the overall control structure is limited to a specific region of the flight envelope [14]. Another approach to controller design is based on adaptive or nonlinear implementations of unified control methods that can handle nonlinear dynamics and cover the entire flight envelope, such as optimal control gain scheduling [15,16], dynamic inversion [17][18][19], robust control [20][21][22] and nonlinear model predictive control (NMPC) [23,24]. This method avoids the instability caused by the unreasonable selection of the equilibrium point.…”

Section: Introductionmentioning

confidence: 99%

PPO-Based Attitude Controller Design for a Tilt Rotor UAV in Transition Process

Yang,

Du,

Zheng

et al. 2023

Drones

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The complex aerodynamic changes of the tilt-rotor UAV (TRUAV) in the transition process show strong nonlinearity, which brings a great impact on the stability of the vehicle attitude. This study aims to design a PPO-based RL controller for attitude control in the transition process. A reinforcement-learning PPO approach is used to learn the control strategy by interacting directly with the environment. And the reward function is designed and improved for the transition process. The performance of the proposed controller is tested and compared by simulation. The results show that the PPO algorithm is more suitable for the tilt-rotor transition process control than the A2C algorithm. Our proposed reward function improves the attitude control performance and the designed RL controller has good adaptability to changes in the takeoff weight, the diagonal wheelbase and the tilt rate. This study highlights the effectiveness and potential of reinforcement learning for tilt-rotor UAV transition process attitude control. These findings contribute to the advancement of autonomous flight systems by providing insights into the application of reinforcement learning algorithms. These results have important implications for the development of intelligent flight control systems and could guide future research in this area.

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Section: Introductionmentioning

confidence: 99%

PPO-Based Attitude Controller Design for a Tilt Rotor UAV in Transition Process

Yang,

Du,

Zheng

et al. 2023

Drones

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“…Several experimental platforms were developed for this category with different body structures. They are on dual tilt-rotors such as the Bell Eagle Eye (Bell Helicopter, 2005) and BIROTAN (Kendoul at al., 2005) prototypes, and on tri tilt-rotors like the model given in Anh et al (2012). However, the drawback of using two or three rotors is that the vehicle cannot fly when one of these rotors fails.…”

Section: Introductionmentioning

confidence: 99%

Design and co-simulation of a fuzzy gain-scheduled PID controller based on particle swarm optimization algorithms for a quad tilt wing unmanned aerial vehicle

Khoud

Ayadi

2018

Transactions of the Institute of Measurement and Control

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This paper deals with the systematic design and hardware co-simulation of a fuzzy gain-scheduled proportional–integral–derivative (GS-PID) controller for a quad tilt wing (QTW) type of unmanned aerial vehicles (UAVs) based on different variants of the particle swarm optimization (PSO) algorithm. The fuzzy PID gains scheduling problem for the stabilization of the roll, pitch and yaw dynamics of the QTW vehicle is formulated as a constrained optimization problem and solved thanks to improved PSO algorithms. PSO algorithms with variable inertia weight (PSO-In), PSO with constriction factor (PSO-Co) and PSO with possibility updating strategies (PSO-gbest) are proposed. Such variants of the PSO algorithm aim further to improve the exploration and exploitation capabilities of such a stochastic algorithm as well as its convergence fastness. The robustness of the designed PSO-based fuzzy GS-PID controllers under actuators faults is shown on the non-linear model of the QTW. All optimized fuzzy GS-PID controllers are then co-simulated within a processor-in-the-loop (PIL) framework based on an embedded NI myRIO-1900 board and a host PC. Such a proposed software (SW) and hardware (HW) computer aided design (CAD) platform is based on the Control Design and Simulation (CDSim) module of the LabVIEW environment as well as a set-up Network Streams-based data communication protocol. Demonstrative simulation results are presented, compared and discussed in order to improve the effectiveness of the proposed PSO-based fuzzy gains scheduled PID controllers for the QTW’s attitude flight stabilization.

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“…Adjusting the tilt angle of the rotor causes significant changes in the aircraft's structural and mechanical properties, directly affecting its stability. Thus, our proposal could be modified to incorporate this type of vehicle, where the transition stage from one flight mode to another is usually the most critical (Ta et al, 2012).…”

mentioning

confidence: 99%

Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances

Sánchez-Meza,

Lozano-Hernández,

Gutiérrez-Frías

et al. 2023

International Journal of Applied Mathematics and Computer Scien

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This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.

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Modeling and control of a tilt tri-rotor airplane

Cited by 19 publications

References 7 publications

PPO-Based Attitude Controller Design for a Tilt Rotor UAV in Transition Process

PPO-Based Attitude Controller Design for a Tilt Rotor UAV in Transition Process

Design and co-simulation of a fuzzy gain-scheduled PID controller based on particle swarm optimization algorithms for a quad tilt wing unmanned aerial vehicle

Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances

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