Abstract
This paper focuses on the nonlinear robust control problem for the modal conversion of tilt rotor UAVs with parameter perturbation, external disturbance and input constraints. Based on the NPV model of the tilt rotor UAV with convex polytopic uncertainty, the corresponding nonlinear robust state feedback stabilization controller is designed using Lyapunov stability and polynomial sum of squares (SOS) theories. Furthermore, by using the generalised S-procedure, the solvable conditions of nonlinear robust control satisfying the input constraints is established, which can be effectively checked with the aid of convex optimization tools. The simulation results show that the obtained controller satisfies the saturation constraint, and can well suppress the external disturbance and adaptive parameter perturbation in the process of realizing the modal conversion of the tilt rotor UAV.
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