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Modeling and control for the mode transition of a novel tilt-wing UAV

机译：一种新型倾斜翼UAV模式转换的建模与控制

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This paper mainly presents a multibody dynamics model and a novel control method for the mode transition of a new-style distributed propulsion tilt-wing UAV. Base on the technology of tensor flight dynamics, a multibody attitude dynamics model formulated in an invariant tensor form is developed for the mode transition such that the dynamics induced by the relative movement of the moving parts (wings and rotors) with respect to the fuselage could be formulated explicitly in the model. The control system is decoupled into two parts, namely the position subsystem and the attitude subsystem subject to input perturbation and external aerodynamic disturbances. A novel finite time altitude tracking controller is designed for position subsystem in terms of the existence of the external disturbances and the perturbations acting on the inputs such that the tilt-wing UAV can converge and move along the desired altitude trajectory in a finite time. Besides, a RISE-based attitude tracking controller is developed to control the attitude subsystem, which guaranteeing robustness to the external disturbances. Numerical simulations are carried out to illustrate the performance of the proposed controllers. (C) 2019 Elsevier Masson SAS. All rights reserved.
机译：本文主要提出了一种多体动力学模型和新型分布推进倾斜UAV模式转换的新型控制方法。基于张量飞行动力学技术，开发了一种以不变的张量形式配制的多体态度动力学模型用于模式转换，使得由移动部件（翼和转子）相对于机身的相对运动引起的动态在模型中明确制定。控制系统将其分成两部分，即位置子系统和姿态子系统，以输入扰动和外部空气动力学干扰。一种新颖的有限时间高度跟踪控制器，用于在外部干扰的存在方面用于位置子系统，并且作用在输入上的扰动，使得倾斜翼UAV可以在有限时间内沿着所需的高度轨迹沿期望的高度轨迹移动和移动。此外，开发了一种基于崛起的姿态跟踪控制器来控制姿态子系统，这保证了对外部干扰的稳健性。进行数值模拟以说明所提出的控制器的性能。 （c）2019年Elsevier Masson SAS。版权所有。

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