A5071053372- Adaptive Control of Nonlinear Systems
- Distributed Control Multi-Agent Systems
- Guidance and Control Systems
- Robotic Path Planning Algorithms
- UAV Applications and Optimization
- Biomimetic flight and propulsion mechanisms
Beijing Institute of Technology
2018-2020
The paper seeks to study the control system design of a novel unmanned aerial vehicle (UAV). UAV is capable vertical takeoff and landing (VTOL), transition flight cruising via technique direct force control. incremental nonlinear dynamic inversion (INDI) approach adopted for 6-DOF nonaffine UAV. Based on INDI law, method two-layer cascaded optimal allocation proposed handle redundant coupled variables. For weight selection in allocation, strategy proposed. This can adjust objective function...
Abstract the controller is designed for vertical take-off and landing mode, transient flight mode fixed wing respectively; a control signal fusion method introduced in transition which realizes smooth switching of aerial vehicle different modes; aiming at problem plane redundancy, advancing amplitude redundant quantity adopted to simplify distribution process. It verified that Vertical Take-Off Landing UAV can track path well via six degrees freedom simulation vehicle.