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Actuator controller based on fuzzy sliding mode control of tilt rotor unmanned aerial vehicle

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Abstract

The Smart Unmanned Aerial Vehicle (SUAV) is the tilt rotor type aircraft, which has been developed by the Korea Aerospace Research Institute (KARI). The actuation system of the SUAV is composed of actuators, controllers, and mechanical linkages for the control elements, i.e. nacelle tilt, flaperon, elevator, and rotor. It should be able to control the vehicle under a variety of aerodynamic loads while the control performance is fulfilled in terms of accuracy, response time, and stability. In order to satisfy the target performance, the system employs the sliding mode control that guarantees stability under varying loads. In addition, the system is enhanced with the fuzzy control logic that enables intelligent selection of the control switch. Based on this fuzzy sliding mode control (FSMC) scheme, the actuator controller of the SUAV receives the control commands from the Digital Flight Control Computer (DFCC) and transmits them to actuators under the feedback control logic. This paper presents the application of the FSMC to the SUAV and provides the description of the actuation system architectures, modeling and analysis for the actuation system, implementation of the control logic into the actuator controller, and verification of the actuator control system through ground and flight tests of the SUAV.

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Author information

Authors and Affiliations

  1. Future Aircraft System Division, Korea Aerospace Research Institute, 169-84 Gwahak-ro, Yusung-gu, Daejeon, 303-806, Korea

    Chang-Sun Yoo, Bum-Jin Park & Young-Shin Kang

  2. DBRAIN Inc, 99 Daehak-ro, Yusung-gu, Daejeon, 305-764, Korea

    Si-Dae Ryu

  3. Smart Technology Inc., 694 Tapnipdong, Yusung-gu, Daejeon, 305-510, Korea

    Soon-Bae Jung

Authors
  1. Chang-Sun Yoo
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  2. Si-Dae Ryu
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  3. Bum-Jin Park
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  4. Young-Shin Kang
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  5. Soon-Bae Jung
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Corresponding author

Correspondence to Chang-Sun Yoo.

Additional information

Recommended by Associate Editor Do Wan Kim under the direction of Editor Young-Hoon Joo.

Si-Dae Ryu received his M.S. degree in Aerospace Engineering from Chungnam National University, in 2008. Since 2008, he has been a research engineer in Smartec Inc. and in Korea Aerospace Research Institute and DBRAIN Inc. His research interests include flight control of UAV, actuation system.

Bum-Jin Park received his M.S. and Ph.D. degrees in Aerospace Engineering from Chungnam National University, in 2002 and 2006. Since 2005, he is a research engineer in Korea Aerospace Research Institute. His research interests include flight dynamics, simulation and control system.

Young-Shin Kang received his M.S. degree in Aerospace Engineering from Seoul National University in 1994. Since 1994, he has been a research engineer in Korea Aerospace Industries and Korea Aerospace Research Institute. His research interests include flight control law design and adaptive neural network control.

Soon-Bae Jung received his M.S. and Ph.D. degrees in Mechanical Design Engineering from Seoul National University, in 1983 and 1996, respectively. From 1987 to 2004, he had been a research engineer in Agency for Defense Development. Since 2004, he has founded the Smartec Inc. His research interests include nonlinear control, power control system, and learning control system.

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Yoo, CS., Ryu, SD., Park, BJ. et al. Actuator controller based on fuzzy sliding mode control of tilt rotor unmanned aerial vehicle. Int. J. Control Autom. Syst. 12, 1257–1265 (2014). https://doi.org/10.1007/s12555-013-0009-9

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  • DOI: https://doi.org/10.1007/s12555-013-0009-9

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