Abstract
Special Session: Hybrid and Convertible Unmanned Aerial Vehicles. A robust nonlinear optimal \(\mathcal {W}_\infty \) controller is designed for trajectory tracking of a quadtiltrotor Unmanned Aerial Vehicle (UAV) operating in helicopter-flight mode. The proposed controller provides trajectory tracking of the translational position and yaw angle, and set-point regulation of the tilting mechanisms’ angles, while stabilizing the roll and pitch dynamics. Unlike most works in literature, the control design is here conducted without any simplification of the multi-body dynamic model of the quadtiltrotor UAV. The efficacy of the proposed control strategy is corroborated by numerical experiment results.
This work was in part supported by the project INCT (National Institute of Science and Technology) for Cooperative Autonomous Systems Applied to Security and Environment under the grants CNPq 465755/2014-3 and FAPESP 2014/50851-0, and by the Brazilian agencies CAPES under the grant numbers 88887.136349/2017-00 and 001, CNPq under the grant 315695/2020-0, FAPEMIG under the grant APQ-03090-17, and FAPESP under the grant 2022/05052-8.
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Notes
- 1.
For the sake of simplicity, throughout the manuscript, some function dependencies are omitted.
- 2.
Throughout the manuscript the subscripts R and L are used to distinguish between the right and left sides of the aircraft, and the subscripts f and b mean the front and back sides.
- 3.
The angle of attack and the side slip angle are obtained according to the frames rigidly attached to the aerodynamic centers of each aerodynamic surface. These do not follow the aerodynamic convention “NED”.
- 4.
The following notation for partial derivatives is employed in the rest of the paper: \(\partial _{\boldsymbol{x}}^{(i)} \boldsymbol{f} = \frac{\partial ^{(i)}\boldsymbol{f}}{\partial \boldsymbol{x}^{(i)}}, i \in \mathbb {N}\).
- 5.
Given the UAV symmetry, the unlisted parameters can be inferred.
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Campos, J.M., Cardoso, D.N., Raffo, G.V. (2024). A Robust Nonlinear Flight Control in the Weighted Sobolev Space for a Quadtiltrotor UAV. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation Between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 810. Springer, Cham. https://doi.org/10.1007/978-3-031-47269-5_18
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