Abstract
ABSTRACTThis paper presents the dynamic modelling and control technique for a tilt-rotor aerial vehicle operating in bi-rotor mode. This kind of aircraft combines two flight envelopes, making it ideal for scenarios that require hovering, vertical take-off/landing and fixed-wing capabilities. In this work, a detailed mathematical model is derived using Newton–Euler formalism. Based on the obtained model, a new control scheme that incorporates six Proportional-Derivative (PD) controllers is proposed for the attitudes (roll (φ), pitch (θ), yaw (ψ)) and the positions (x, y, z) of the aircraft. Then, intelligent Particle Swarm Optimization (PSO) and conventional Reference Model (RM) techniques are applied for optimal tuning of the controllers' parameters. The stability analysis is developed using the Lyapunov approach and its application to the tilt-rotor system in the case of intelligent and conventional PD controllers. Numerical results of two scenarios prove the efficiency of the controllers tuned using the PSO method. Indeed, its ability to track the desired trajectories is demonstrated through 3D path tracking simulations, even in the presence of wind disturbances. Finally, experimental tests of stabilization and trajectory tracking are carried out on our prototype. These testing showed that our tilt-rotor was stable and suitably follows the imposed trajectories.
Highlights
Unmanned Aerial Vehicles (UAVs) are rapidly becoming more popular due to the recent technological advancements in many civilian and military applications, including photography, agricultural support, natural disaster support, earth science research assistance, hostile zone reconnaissance, hazardous biological or chemical agent detection, border detection, etc
The main objective was to confirm the ability of Particle Swarm Optimization (PSO) to stabilize the unmanned tilt-rotor and to perform aggressive manoeuvres even under the presence of forcible disturbances
In this paper, based on the dynamical model established through Newton–Euler formalism, robust PD controllers were incorporated in a complete control design for the six tilt-rotor’s outputs (positions (x, y, z) and attitudes (φ, θ, ψ))
Summary
Unmanned Aerial Vehicles (UAVs) are rapidly becoming more popular due to the recent technological advancements in many civilian and military applications, including photography, agricultural support, natural disaster support, earth science research assistance, hostile zone reconnaissance, hazardous biological or chemical agent detection, border detection, etc. These diversified applications have created the need for a single aerial vehicle with the ability to efficiently perform multiple tasks. Within this scope, different models that have received attention are aircrafts with a tilting mechanism known as tilt-rotors. The two rotors are independently coupled with a type of revolute joint, typically a servomotor, with the ability to tilt the entire rotor
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