Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight

Siqi Wang; Bifeng Song; Lei He; Xinyu Lang

doi:10.1109/CCDC.2019.8832344

Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight

Siqi Wang, Bifeng Song, Lei He, Xinyu Lang

School of Aeronautics

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper is determined to establish the dynamic model for a distributed propulsion tilt-wing UAV and design a robust attitude controller. Firstly, a detailed dynamic model including the aerodynamic model of propulsion and slipstream towards the target UAV is established. Secondly, an optimal control allocation model that concerns eight kinds of control surfaces is described. Thirdly, based on the established model, a MIMO robust attitude controller containing a 3-dimension LQG controller and a MIMO H-infinity based disturbance observer is determined. Finally, a simulation is designed to verify the whole controller, whose results reach the request.

Original language	English
Title of host publication	Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1480-1485
Number of pages	6
ISBN (Electronic)	9781728101057
DOIs	https://doi.org/10.1109/CCDC.2019.8832344
State	Published - Jun 2019
Event	31st Chinese Control and Decision Conference, CCDC 2019 - Nanchang, China Duration: 3 Jun 2019 → 5 Jun 2019

Publication series

Name	Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019

Conference

Conference	31st Chinese Control and Decision Conference, CCDC 2019
Country/Territory	China
City	Nanchang
Period	3/06/19 → 5/06/19

Keywords

DOB
Optimal Control Allocation
Robust Attitude Controller
Tilt-Wing UAV

Access to Document

10.1109/CCDC.2019.8832344

Cite this

Wang, S., Song, B., He, L., & Lang, X. (2019). Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight. In Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019 (pp. 1480-1485). Article 8832344 (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2019.8832344

Wang, Siqi ; Song, Bifeng ; He, Lei et al. / Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight. Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1480-1485 (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019).

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title = "Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight",

abstract = "This paper is determined to establish the dynamic model for a distributed propulsion tilt-wing UAV and design a robust attitude controller. Firstly, a detailed dynamic model including the aerodynamic model of propulsion and slipstream towards the target UAV is established. Secondly, an optimal control allocation model that concerns eight kinds of control surfaces is described. Thirdly, based on the established model, a MIMO robust attitude controller containing a 3-dimension LQG controller and a MIMO H-infinity based disturbance observer is determined. Finally, a simulation is designed to verify the whole controller, whose results reach the request.",

keywords = "DOB, Optimal Control Allocation, Robust Attitude Controller, Tilt-Wing UAV",

author = "Siqi Wang and Bifeng Song and Lei He and Xinyu Lang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 31st Chinese Control and Decision Conference, CCDC 2019 ; Conference date: 03-06-2019 Through 05-06-2019",

year = "2019",

month = jun,

doi = "10.1109/CCDC.2019.8832344",

language = "英语",

series = "Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1480--1485",

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Wang, S, Song, B, He, L & Lang, X 2019, Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight. in Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019., 8832344, Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1480-1485, 31st Chinese Control and Decision Conference, CCDC 2019, Nanchang, China, 3/06/19. https://doi.org/10.1109/CCDC.2019.8832344

Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight. / Wang, Siqi; Song, Bifeng; He, Lei et al.
Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1480-1485 8832344 (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight

AU - Wang, Siqi

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AU - He, Lei

AU - Lang, Xinyu

PY - 2019/6

Y1 - 2019/6

N2 - This paper is determined to establish the dynamic model for a distributed propulsion tilt-wing UAV and design a robust attitude controller. Firstly, a detailed dynamic model including the aerodynamic model of propulsion and slipstream towards the target UAV is established. Secondly, an optimal control allocation model that concerns eight kinds of control surfaces is described. Thirdly, based on the established model, a MIMO robust attitude controller containing a 3-dimension LQG controller and a MIMO H-infinity based disturbance observer is determined. Finally, a simulation is designed to verify the whole controller, whose results reach the request.

AB - This paper is determined to establish the dynamic model for a distributed propulsion tilt-wing UAV and design a robust attitude controller. Firstly, a detailed dynamic model including the aerodynamic model of propulsion and slipstream towards the target UAV is established. Secondly, an optimal control allocation model that concerns eight kinds of control surfaces is described. Thirdly, based on the established model, a MIMO robust attitude controller containing a 3-dimension LQG controller and a MIMO H-infinity based disturbance observer is determined. Finally, a simulation is designed to verify the whole controller, whose results reach the request.

KW - DOB

KW - Optimal Control Allocation

KW - Robust Attitude Controller

KW - Tilt-Wing UAV

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Wang S, Song B, He L, Lang X. Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight. In Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1480-1485. 8832344. (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019). doi: 10.1109/CCDC.2019.8832344

Modeling and Robust Attitude Controller Design of a Distributed Propulsion Tilt-Wing UAV in Hovering Flight

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