Practical control implementation of tri-tiltRotor flying wing unmanned aerial vehicles based upon active disturbance rejection control

Wang, Zian; Gong, Zheng; Chen, Yongliang; Sun, Mingwei; Xu, Jinming

doi:10.1177/0954410019886963

Cited by 16 publications

(12 citation statements)

References 25 publications

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“…Moreover, the high order rotor flapping dynamics and rotor-body coupling dynamics make it more difficult to build an accurate dynamics model for the dual-tilt rotor UAV [10,11]. On the other hand, an accurate dynamics model is not necessary owing to the high robustness of LADRC [20], which is one of the important reasons for designing the controller based on LADRC. The unmodeled dynamics are considered as model uncertainty and are compensated by the LADRC controller.…”

Section: Dynamics Modelmentioning

confidence: 99%

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Unified Accurate Attitude Control for Dual-Tiltrotor UAV with Cyclic Pitch Using Actuator Dynamics Compensated LADRC

Wang

Cai

et al. 2022

Sensors

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This paper proposes a unified attitude controller based on the modified linear active disturbance rejection control (LADRC) for a dual-tiltrotor unmanned aerial vehicle (UAV) with cyclic pitch to achieve accurate attitude control despite its nonlinear and time-varying characteristics during flight mode transitions. The proposed control algorithm has higher robustness against model mismatch compared with the model-based control algorithms. The modified LADRC utilizes the state feedbacks from the onboard sensors like IMU and Pitot tube instead of the mathematical model of the plane. It has less dependency on the accurate dynamics model of the dual-tiltrotor UAV, which can hardly be built. In contrast to the original LADRC, an actuator model is integrated into the modified LADRC to compensate for the non-negligible slow rotor flapping dynamics and servo dynamics. This modification eliminates the oscillation of the original LADRC when applied on the plant with slow-response actuators, such as propeller and rotors of the helicopter. In this way, the stability and performance of the controller are improved. The controller replaces the gain-scheduling or the control logic switching by a unified controller structure, which simplifies the design approach of the controller for different flight modes. The effectiveness of the modified LADRC and the performance of the unified attitude controller are demonstrated in both simulation and flight tests using a dual-tiltrotor UAV. The attitude control error is less than ±4° during the conversion flight. The control rising time in different flight modes is all about 0.5 s, despite the variations in the airspeed and tilt angle. The flight results show that the controller guarantees high control accuracy and uniform control quality in different flight modes.

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Section: Dynamics Modelmentioning

confidence: 99%

“…Other options to reduce the sensitivity of model uncertainties are the incremental nonlinear dynamic inversion (INDI) [19] and active disturbance rejection control (ADRC) [20]. INDI replaces the model information by the measurement or estimation of the linear or angular accelerations of the UAV.…”

Section: Introductionmentioning

confidence: 99%

Unified Accurate Attitude Control for Dual-Tiltrotor UAV with Cyclic Pitch Using Actuator Dynamics Compensated LADRC

Wang

Cai

et al. 2022

Sensors

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“…A tiltrotor is a special type of aircraft with three flight modes, that is, the airplane mode, the tilt mode, and the helicopter mode, which integrate the advantages of fixed-wing aircraft and helicopters, 1 and the transition among different flight modes is realized by changing the tilt angle of the nacelle. 2 In view of the above advantages, a tiltrotor is suitable for transportation, search, and logistic support both in military and civil use. 3 The tilt mode is the main weakness of a tiltrotor, which may lead to accidents in the process of changing its attitudes.…”

Section: Introductionmentioning

confidence: 99%

A path planning model of a tiltrotor for approaching an aircraft carrier during landing

Su³

2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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A path planning model concerning a tiltrotor approaching an aircraft carrier is established in this study. In the model, the characteristic of the tiltrotor, the landing task, and the environment of the carrier are taken into account. First, the motion equations and the maneuverability of the tiltrotor in each flight mode are presented, and the constraints of control variables and flight envelope are given. The returning flight of the tiltrotor is divided into three phases corresponding to the three flight modes of the tiltrotor, and the constraints in each phase and the goal are set. Considering the flight safety of the tiltrotor, the environment of the carrier is described as flyable space and no-fly zones, and the no-fly zones are set taking the influences of turbulence and wind field induced by the moving aircraft carrier into account. The path planning issue is formulated into an optimization problem under the constraints of control variables and state variables. According to the characteristic of the established model, a pigeon inspired optimization (PIO)-based path planning algorithm is developed integrating the “step-by-step” and “one effort” path search strategies. Simulation results demonstrate that the tiltrotor can reach the target point with a reasonable landing path. Comparison among different algorithms is also conducted to verify that the PIO algorithm is capable of solving this online path planning problem.

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“…As an effective nonlinear control method, active disturbance rejection control (ADRC) has the advantages of simple, feasible, and strong robustness, and for the coupling system, the cross-coupling disturbance can be estimated and compensated by the ESO. Therefore, compared with the traditional decoupling control method, ADRC has significant advantages [17][18][19] and can be an important method to solve the control problem of the polar crane.…”

Section: Introductionmentioning

confidence: 99%

Precise Locating Control for a Polar Crane Based on Sliding Mode Active Disturbance Rejection Control and Quadratic Programming Algorithm

2021

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A polar crane is a large-scale special lifting equipment operated in a nuclear power plant. To address the precise locating control problem of a polar crane with the center of gravity shifting, with cross-coupling, and with external disturbance, an effective control scheme is proposed in this paper. Firstly, a nonholonomic constraint dynamic model of the polar crane is established according to the Lagrange–Rouse equation. Then, an expansion state observer (ESO) of the active disturbance rejection control (ADRC) method is applied to estimate and compensate the cross-coupling disturbance in real-time. To improve the robustness and convergence speed of the control system, the nonsingular terminal sliding mode (NTSM) control method is incorporated with ADRC and the stability of the controller is proven by the Lyapunov function approach. Furthermore, to solve the problem of redundant actuation and to reduce trajectory deviation of the bridge truck, the contact forces of the horizontal guide device are introduced into the quadratic programming (QP) optimization algorithm. Finally, the effectiveness and superiority of the proposed control scheme are illustrated by simulation results.

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Practical control implementation of tri-tiltRotor flying wing unmanned aerial vehicles based upon active disturbance rejection control

Cited by 16 publications

References 25 publications

Unified Accurate Attitude Control for Dual-Tiltrotor UAV with Cyclic Pitch Using Actuator Dynamics Compensated LADRC

Unified Accurate Attitude Control for Dual-Tiltrotor UAV with Cyclic Pitch Using Actuator Dynamics Compensated LADRC

A path planning model of a tiltrotor for approaching an aircraft carrier during landing

Precise Locating Control for a Polar Crane Based on Sliding Mode Active Disturbance Rejection Control and Quadratic Programming Algorithm

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