Abstract
This work addresses the development of a unified control strategy, based on nonlinear control techniques, for hybrid tri-tiltrotor UAVs, so that a simple trajectory is followed. A model of a tri-tiltrotor UAV is derived, detailing the forces and moments that act on the system, followed by a unified control approach that considers the system dynamics as a whole. Backstepping control and nonlinear optimisation are used for position and attitude control to calculate force and moment references and a control allocation strategy based on nonlinear optimisation is proposed. Two trajectories are defined; in the first trajectory, the UAV is expected to fully transition from rotary-wing to fixed-wing configuration, while in the second, it is expected to fly in an intermediate configuration. To validate the approach, simulations for these trajectories are performed and the results are analysed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ta, D., Fantoni, I., Lozano, R.: Modeling and control of a tilt tri-rotor airplane. In: Proceedings Of The American Control Conference, pp. 131–136 (2012)
Yu, L., Zhang, D., Zhang, J., Pan, C.: Modeling and attitude control of a tilt tri-rotor UAV. In: Chinese Control Conference, CCC, pp. 1103–1108, September 2017
Yuksek, B., Vuruskan, A., Ozdemir, U., Yukselen, M., Inalhan, G.: Transition flight modeling of a fixed-wing VTOL UAV. J. Intell. Robot. Syst. Theor. Appl. 84, 83–105 (2016)
Hartmann, P., Meyer, C., Moormann, D.: Unified velocity control and flight state transition of unmanned tilt-wing aircraft, J. Guidance Control Dyn. 40, 1–12 (2017)
Zhou, J., Lyu, X., Li, Z., Shen, S., Zhang, F.: A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight. In: IEEE International Conference on Intelligent Robots and Systems, pp. 4835-4841 (2017)
Lecoeur, J., Fuhrer, S.: Control allocation: reworking the PX4 mixing system - PX4 Developer Summit Virtual 2020. https://youtu.be/xjLM9whwjO4. Accessed 26 Feb 2022
Guerreiro, B.: REPLACE Project. http://replace.isr.tecnico.ulisboa.pt. Accessed 26 Feb 2022
Beard, R., McLain, T.: Small Unmanned Aircraft: Theory and Practice. Princeton University Press, Princeton (2012)
Kendoul, F., Fantoni, I., Lozano, R.: Modeling and control of a small autonomous aircraft having two tilting rotors. In: Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC 2005, pp. 8144–8149 (2005)
Acknowledgements
This work was partially funded by FCT project REPLACE (PTDC/EEIAUT/32107/2017) which includes Lisboa 2020 and PIDDAC funds, project CAPTURE (PTDC/EEI-AUT/1732/2020), and also projects CTS (UIDB/00066/2020) and LARSYS (UIDB/50009/2020)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Serrano, G., J. Guerreiro, B., Cunha, R. (2022). Nonlinear Control of Hybrid Drones via Optimised Control Allocation. In: Brito Palma, L., Neves-Silva, R., Gomes, L. (eds) CONTROLO 2022. CONTROLO 2022. Lecture Notes in Electrical Engineering, vol 930. Springer, Cham. https://doi.org/10.1007/978-3-031-10047-5_19
Download citation
DOI: https://doi.org/10.1007/978-3-031-10047-5_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-10046-8
Online ISBN: 978-3-031-10047-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)