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- Publisher Website: 10.1109/ICUAS.2019.8797947
- Scopus: eid_2-s2.0-85071858111
- WOS: WOS:000503382900067
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Conference Paper: Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes
Title | Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes |
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Authors | |
Keywords | Aircraft Attitude control Atmospheric modeling Angular velocity Frequency-domain analysis |
Issue Date | 2019 |
Publisher | International Conference on Unmanned Aircraft Systems Association, Inc.. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/conhome/1802684/all-proceedings |
Citation | Proceedings of 2019 International Conference on Unmanned Aircraft Systems (ICUAS'19), Atlanta, USA, 11-14 June 2019, p. 542-550 How to Cite? |
Abstract | In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper concentrates on the design of the attitude controller and the altitude controller. For the attitude control, the controller's parameters and filters are optimized based on the frequency response model which is identified from the sweep experiment. As a result, the effect of system flexible modes is easily compensated in frequency-domain by using a notch filter, and the resulting attitude loop shows superior tracking performance and robustness. In the coordinated flight condition, the altitude controller is structured as the feedforward-feedback parallel controller. The feedforward thrust command is calculated based on the current speed and the pitch angle. Tests in hovering, forward accelerating and forward decelerating flights have been conducted to verify the proposed control system. |
Description | Oral Presentation - WeC4: Control Architectures III - Paper WeC4.6 |
Persistent Identifier | http://hdl.handle.net/10722/274126 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Xu, W | - |
dc.contributor.author | Gu, H | - |
dc.contributor.author | Qin, Y | - |
dc.contributor.author | Lin, J | - |
dc.contributor.author | Zhang, F | - |
dc.date.accessioned | 2019-08-18T14:55:36Z | - |
dc.date.available | 2019-08-18T14:55:36Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | Proceedings of 2019 International Conference on Unmanned Aircraft Systems (ICUAS'19), Atlanta, USA, 11-14 June 2019, p. 542-550 | - |
dc.identifier.uri | http://hdl.handle.net/10722/274126 | - |
dc.description | Oral Presentation - WeC4: Control Architectures III - Paper WeC4.6 | - |
dc.description.abstract | In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper concentrates on the design of the attitude controller and the altitude controller. For the attitude control, the controller's parameters and filters are optimized based on the frequency response model which is identified from the sweep experiment. As a result, the effect of system flexible modes is easily compensated in frequency-domain by using a notch filter, and the resulting attitude loop shows superior tracking performance and robustness. In the coordinated flight condition, the altitude controller is structured as the feedforward-feedback parallel controller. The feedforward thrust command is calculated based on the current speed and the pitch angle. Tests in hovering, forward accelerating and forward decelerating flights have been conducted to verify the proposed control system. | - |
dc.language | eng | - |
dc.publisher | International Conference on Unmanned Aircraft Systems Association, Inc.. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/conhome/1802684/all-proceedings | - |
dc.relation.ispartof | International Conference on Unmanned Aircraft Systems (ICUAS) | - |
dc.subject | Aircraft | - |
dc.subject | Attitude control | - |
dc.subject | Atmospheric modeling | - |
dc.subject | Angular velocity | - |
dc.subject | Frequency-domain analysis | - |
dc.title | Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Zhang, F: fuzhang@hku.hk | - |
dc.identifier.authority | Zhang, F=rp02460 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICUAS.2019.8797947 | - |
dc.identifier.scopus | eid_2-s2.0-85071858111 | - |
dc.identifier.hkuros | 301106 | - |
dc.identifier.spage | 542 | - |
dc.identifier.epage | 550 | - |
dc.identifier.isi | WOS:000503382900067 | - |
dc.publisher.place | Atlanta, USA | - |