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Conference Paper: Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes Presentation format: Oral Presentation

TitleFull Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes Presentation format: Oral Presentation
Authors
Issue Date2019
PublisherInternational Conference on Unmanned Aircraft Systems Association, Inc..
Citation
2019 International Conference on Unmanned Aerial Systems (ICUAS'19), Atlanta, USA, 11-14 June 2019 How to Cite?
AbstractIn this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper concentrates on the design of the attitude controller and the altitude controller. For the attitude control, the controller's parameters and filters are optimized based on the frequency response model which is identified from the sweep experiment. As a result, the effect of system flexible modes is easily compensated in frequency-domain by using a notch filter, and the resulting attitude loop shows superior tracking performance and robustness. In the coordinated flight condition, the altitude controller is structured as the feedforward-feedback parallel controller. The feedforward thrust command is calculated based on the current speed and the pitch angle. Tests in hovering, forward accelerating and forward decelerating flights have been conducted to verify the proposed control system.
Persistent Identifierhttp://hdl.handle.net/10722/274126

 

DC FieldValueLanguage
dc.contributor.authorXu, W-
dc.contributor.authorGu, H-
dc.contributor.authorQin, Y-
dc.contributor.authorLin, J-
dc.contributor.authorZhang, F-
dc.date.accessioned2019-08-18T14:55:36Z-
dc.date.available2019-08-18T14:55:36Z-
dc.date.issued2019-
dc.identifier.citation2019 International Conference on Unmanned Aerial Systems (ICUAS'19), Atlanta, USA, 11-14 June 2019-
dc.identifier.urihttp://hdl.handle.net/10722/274126-
dc.description.abstractIn this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper concentrates on the design of the attitude controller and the altitude controller. For the attitude control, the controller's parameters and filters are optimized based on the frequency response model which is identified from the sweep experiment. As a result, the effect of system flexible modes is easily compensated in frequency-domain by using a notch filter, and the resulting attitude loop shows superior tracking performance and robustness. In the coordinated flight condition, the altitude controller is structured as the feedforward-feedback parallel controller. The feedforward thrust command is calculated based on the current speed and the pitch angle. Tests in hovering, forward accelerating and forward decelerating flights have been conducted to verify the proposed control system.-
dc.languageeng-
dc.publisherInternational Conference on Unmanned Aircraft Systems Association, Inc.. -
dc.relation.ispartofInternational Conference on Unmanned Aerial Systems (ICUAS)-
dc.titleFull Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes Presentation format: Oral Presentation-
dc.typeConference_Paper-
dc.identifier.emailZhang, F: fuzhang@hku.hk-
dc.identifier.authorityZhang, F=rp02460-
dc.identifier.hkuros301106-
dc.publisher.placeAtlanta, USA-

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