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- Title
Design of Flight Control System for a Novel Tilt-Rotor UAV.
- Authors
Chen, Zaibin; Jia, Hongguang
- Abstract
This paper presents the control system design process of a novel tilt-rotor unmanned aerial vehicle (TRUAV). First, a new configuration scheme with the tilting rotors is designed. Then, the detailed nonlinear mathematical model is established, and the parameters are acquired from designed experiments and numerical analyses. For control design purposes, the dynamics equation is linearized around the hovering equilibrium point, and a control allocation method based on trim calculation is developed. To deal with the actuator saturation and uncertain disturbance problems for the novel TRUAV, an improved flight control law based on the combination of the robust servo linear quadratic regulator (RSLQR) optimal control and the extended state observer (ESO) is proposed. The designed flight control law has a simple structure with a high reliability in engineering. Simulations and hovering flight tests are carried out to verify the effectiveness of the mathematical model and the proposed control strategy.
- Subjects
FLIGHT control systems; FLIGHT testing; PROCESS control systems; VERTICALLY rising aircraft; RELIABILITY in engineering; NUMERICAL analysis
- Publication
Complexity, 2020, p1
- ISSN
1076-2787
- Publication type
Academic Journal
- DOI
10.1155/2020/4757381