TY - GEN
T1 - Tilt Tri-Rotor UAV Attitude Control in Hover Mode
AU - Ma, Yan
AU - Wang, Yingxun
AU - Zhao, Jiang
AU - Cai, Zhihao
AU - Liu, Ningjun
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - This paper studied a tilt tri-rotor UAV (Unmanned Aerial Vehicle) attitude control in hover mode. Firstly, the mathematical model of the tilt tri-rotor UAV is established, in which the propeller forces and moments are analyzed and calculated. On this basis, the attitude dynamic equations are obtained. The mathematical model is used for attitude controller design. Secondly, a backstepping based control scheme is designed for the tilt tri-rotor UAV attitude control, and tracking differentiator (TD) is adopted to improve the control performance of basic backstepping control approach. On this basis, roll, pitch, and yaw angle controllers are designed. Also, different kinds of disturbances are considered, and PID (Proportion-Integral-Differential) controllers are used for comparison. Finally, comparative simulations are carried out by using MATLAB, and the performance of the attitude control system is tested.
AB - This paper studied a tilt tri-rotor UAV (Unmanned Aerial Vehicle) attitude control in hover mode. Firstly, the mathematical model of the tilt tri-rotor UAV is established, in which the propeller forces and moments are analyzed and calculated. On this basis, the attitude dynamic equations are obtained. The mathematical model is used for attitude controller design. Secondly, a backstepping based control scheme is designed for the tilt tri-rotor UAV attitude control, and tracking differentiator (TD) is adopted to improve the control performance of basic backstepping control approach. On this basis, roll, pitch, and yaw angle controllers are designed. Also, different kinds of disturbances are considered, and PID (Proportion-Integral-Differential) controllers are used for comparison. Finally, comparative simulations are carried out by using MATLAB, and the performance of the attitude control system is tested.
KW - Attitude control
KW - Backstepping control
KW - Hover mode
KW - Tilt tri-rotor UAV
UR - https://www.scopus.com/pages/publications/85151136351
U2 - 10.1007/978-981-19-6613-2_568
DO - 10.1007/978-981-19-6613-2_568
M3 - 会议稿件
AN - SCOPUS:85151136351
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 5882
EP - 5889
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -