Control System Design of A Vertical Take-off and Landing Unmanned Aerial Vehicle
作者单位：School of Electrical and Information EngineeringTianjin University
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程]
关 键 词：Multi-rotor F-wing Vertical take-off and landing Adaptive super twisting sliding mode observer
摘 要：This paper investigates the problem of the transition process strongly disturbed by environmental factors for the vertical take-off and landing（VTOL） unmanned aerial vehicle（UAV）. Considering the flight characteristics-wing and multi-rotor UAVs, a transition control scheme according to the change of airspeed is proposed. Firstly, a VTOL UAV dynamic model is established, which consists of three parts: multi-rotor dynamic model,-wing dynamic model and transition process dynamic model. Secondly, a VTOL UAV transition control scheme is given according to the influence of airspeed. Then, due to the transition control scheme can be unstable. To solve this problem, an adaptive super twisting sliding mode observer is adopted to estimate. Finally, the results show that the effectiveness of the proposed control scheme.