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Conference Paper: A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight

TitleA unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight
Authors
Issue Date2017
Citation
IEEE International Conference on Intelligent Robots and Systems, 2017, v. 2017-September, p. 4835-4841 How to Cite?
Abstract© 2017 IEEE. This paper presents a unified control framework for controlling a quadrotor tail-sitter UAV. The most salient feature of this framework is its capability of uniformly treating the hovering and forward flight, and enabling continuous transition between these two modes, depending on the commanded velocity. The key part of this framework is a nonlinear solver that solves for the proper attitude and thrust that produces the required acceleration set by the position controller in an online fashion. The planned attitude and thrust are then achieved by an inner attitude controller that is global asymptotically stable. To characterize the aircraft aerodynamics, a full envelope wind tunnel test is performed on the full-scale quadrotor tail-sitter UAV. In addition to planning the attitude and thrust required by the position controller, this framework can also be used to analyze the UAV's equilibrium state (trimmed condition), especially when wind gust is present. Finally, simulation results are presented to verify the controller's capacity, and experiments are conducted to show the attitude controller's performance.
Persistent Identifierhttp://hdl.handle.net/10722/264869
ISSN
2023 SCImago Journal Rankings: 1.094

 

DC FieldValueLanguage
dc.contributor.authorZhou, Jinni-
dc.contributor.authorLyu, Ximin-
dc.contributor.authorLi, Zexiang-
dc.contributor.authorShen, Shaojie-
dc.contributor.authorZhang, Fu-
dc.date.accessioned2018-11-08T01:35:08Z-
dc.date.available2018-11-08T01:35:08Z-
dc.date.issued2017-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2017, v. 2017-September, p. 4835-4841-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/264869-
dc.description.abstract© 2017 IEEE. This paper presents a unified control framework for controlling a quadrotor tail-sitter UAV. The most salient feature of this framework is its capability of uniformly treating the hovering and forward flight, and enabling continuous transition between these two modes, depending on the commanded velocity. The key part of this framework is a nonlinear solver that solves for the proper attitude and thrust that produces the required acceleration set by the position controller in an online fashion. The planned attitude and thrust are then achieved by an inner attitude controller that is global asymptotically stable. To characterize the aircraft aerodynamics, a full envelope wind tunnel test is performed on the full-scale quadrotor tail-sitter UAV. In addition to planning the attitude and thrust required by the position controller, this framework can also be used to analyze the UAV's equilibrium state (trimmed condition), especially when wind gust is present. Finally, simulation results are presented to verify the controller's capacity, and experiments are conducted to show the attitude controller's performance.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleA unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2017.8206359-
dc.identifier.scopuseid_2-s2.0-85041948370-
dc.identifier.volume2017-September-
dc.identifier.spage4835-
dc.identifier.epage4841-
dc.identifier.eissn2153-0866-
dc.identifier.issnl2153-0858-

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