Control Strategy for the Transition Flight of a Tail-Sitter UAV
作者单位：School of Automation Science and Electrical EngineeringScience and Technology on Aircraft Control LaboratoryBeihang University
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程]
基 金：supported by National Natural Science Foundation(NNSF) of China under Grants 61503009,61333011,61421063 the Aeronautical Science Foundation of China under Grant 2016ZA51005 the Special Research Project of Chinese Civil Aircraft the Fundamental Research Funds for the Central Universities under Grant YWF-14-RSC-101
关 键 词：Tail-sitter UAV Control strategy for transition Backstepping control Nonlinear Extended State Observer
摘 要：The tail-sitter unmanned aerial vehicle（UAV） is a kind of vertical take-off and landing（VTOL） UAV which has the merits of both fixed-wing and *** tail-sitter UAV in this paper has three flight *** most important stage is the transition *** model for the transition stage is established and a transition flight strategy is constructed so that the UAV can change vertical takeoff mode to cruise mode stably.A nonlinear extended state observer is presented to estimate the unknown nonlinear terms,the uncertainties and external disturbances during mode *** backstepping controller based on the observer is designed to implement transition flight mode.A numerical simulation is given to demonstrate the effectiveness of the obtained results.