Flight Control of Tilt Rotor UAV During Transition Mode Based on Finite-Time Control Theory
This paper focuses on the finite time convergence problem of system states in the course of the transition flight control for a small tilt rotor unmanned aerial vehicle (UAV). A controller design method using nonsingular terminal sliding mode surface and extended state observers (ESOs) is proposed. Due to the velocity and structure of tilt rotor UAV vary significantly with the variation of tilt angle, the transition mode is divided into two parts. To adapt to complex aerodynamic characteristics and maneuvering characteristics, and the vibrational control structure in different part of the transition mode, a nonsingular terminal sliding mode control method is applied to make the states converge to the reference trajectories in finite time. Moreover, ESOs are provided to enhance the robustness of the system for uncertainties. Finally, a numerical example is given to verify the effectiveness and robustness of the proposed approach. Regardless of disturbances, the aircraft can achieve the mode transition safely and smoothly.
KeywordsTilt rotor UAV Transition mode Extended state observer Finite-time control
The authors would thank the National Natural Science Foundation of China (Grant No. 61673325 and U1713223) and the Chancellor Fund of Xiamen University (Grant No. 20720180090) for supporting this research.
- 1.Hirschberg, M.J.: An overview of the history of vertical and/or short take-off and landing (V/STOL) Aircraft. In: Proceedings (2006). www.vstol.org
- 3.Ahn, O., Kim, J.M., Lim, C.H.: Smart UAV research program status update: achievement of tilt-rotor technology development and vision ahead. In: ICAS 2010, 27th Congress of International Council of the Aeronautical Sciences (2010)Google Scholar
- 4.Fu, R., Sun, H.F., Zeng, J.P.: Exponential stabilisation of nonlinear parameter-varying systems with applications to conversion flight control of a tilt rotor aircraft. Int. J. Control, 1–11 (2018)Google Scholar
- 8.Chen, Y., Gong, H.J., Wang, B.: Research on longitudinal attitude control technology of tilt rotor during transition. Flight Dyn. 29(1), 30–33 (2011)Google Scholar
- 9.Chen, Q., Jiang, T., Shi, F.M.: Longitudinal attitude control for a tilt tri-rotor UAV in transition mode. Flight Dyn. 34(6), 49–53 (2016)Google Scholar
- 11.Rysdyk, R.T., Calise, A.J.: Adaptive nonlinear control for tiltrotor aircraft. In: Proceedings of the IEEE International Conference on Control Applications, pp. 980–984 (1998)Google Scholar
- 12.Lu, L.H., Fu, R., Wang, Y., et al.: Mode conversion of electric tilt rotor aircraft based on corrected generalized corridor. Acta Aeronautica et Astronautica Sinica 39(7), 121900 (2018)Google Scholar
- 13.Zhou, H.B., Song, H.M., Liu, H.K.: Nonsingular terminal sliding mode guidance law with impact angle constraint. J. Chin. Inertial Technol. 22(5), 606–611,618 (2014)Google Scholar
- 15.Lin, H.X., Fu, R., Zeng, J.P.: Extended state observer based sliding mode control for a tilt rotor UAV. In: Proceedings of the 36th Chinese Control Conference, pp. 3771–3775. IEEE (2017)Google Scholar