Back-stepping Control Strategy for Stabilization of a Tilt-rotor UAV
In today’s world, the study and applications of Vertical Take-Off and Landing (VTOL) capable Unmanned Aerial Vehicles (UAVs) have increased vastly. A wide variety of UAVs are currently being employed in both civilian and military sectors. In this paper, our focus will be on the Tilt-rotor UAV. The Tilt-rotor has a rotor on each side of its airframe, tilted to provide both lift and forward thrust to the rotor-craft. We develop a model that aims to enable the Tilt-rotor UAV to hover in one specific position. Because of the under-actuated property of the Tilt-rotor, we design a back-stepping based proportionalderivative (PD) controller. The controller was able to achieve the desired objective of stabilization.
tilt-rotor Lagrangian back-stepping PD controller.
Arindam Bhanja Chowdhury Anil Kulhare Gaurav Raina
Department ofElectrical Engineering, Indian Institute of Technology Madras, Chennai 600036, India Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai 600 036, India
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
3487-3492
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）