Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation
As a special type of robot, tilt-rotor unmanned aerial vehicles have demonstrated great potential in performing tasks in complex environments. To improve its autonomy and adaptability to complex environments, robust flight control law and control allocation method was studied. A cascaded flight cont...
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| Format: | Article |
| Language: | zho |
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POSTS&TELECOM PRESS Co., LTD
2025-03-01
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| Series: | 智能科学与技术学报 |
| Subjects: | |
| Online Access: | http://www.cjist.com.cn/zh/article/doi/10.11959/j.issn.2096-6652.202510/ |
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| _version_ | 1849324982223503360 |
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| author | LIAO Wenan ZHANG Xiaojun DENG Jinlai YANG Yunjie |
| author_facet | LIAO Wenan ZHANG Xiaojun DENG Jinlai YANG Yunjie |
| author_sort | LIAO Wenan |
| collection | DOAJ |
| description | As a special type of robot, tilt-rotor unmanned aerial vehicles have demonstrated great potential in performing tasks in complex environments. To improve its autonomy and adaptability to complex environments, robust flight control law and control allocation method was studied. A cascaded flight control framework based on two-level control allocation was proposed for the significant changes in control strategy and control effectiveness of tilt-rotor unmanned aerial vehicle in different flight modes. A top-level controller was developed for various control modes, and the actual control quantity was generated by a torque control allocation module in conjunction with attitude angle commands using a force control allocation module based on the weighted generalized inverse method. The attitude controller was designed based on a dual closed-loop control structure, and a disturbance observer was added to improve the robustness to external disturbances. Finally, the effectiveness and robustness of the flight control framework and controller were verified by full process simulation and transition simulation under interference conditions. |
| format | Article |
| id | doaj-art-ed5f5bc2d88b4ee3b895f1812a38fdee |
| institution | Kabale University |
| issn | 2096-6652 |
| language | zho |
| publishDate | 2025-03-01 |
| publisher | POSTS&TELECOM PRESS Co., LTD |
| record_format | Article |
| series | 智能科学与技术学报 |
| spelling | doaj-art-ed5f5bc2d88b4ee3b895f1812a38fdee2025-08-20T03:48:31ZzhoPOSTS&TELECOM PRESS Co., LTD智能科学与技术学报2096-66522025-03-01711412790694123Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocationLIAO WenanZHANG XiaojunDENG JinlaiYANG YunjieAs a special type of robot, tilt-rotor unmanned aerial vehicles have demonstrated great potential in performing tasks in complex environments. To improve its autonomy and adaptability to complex environments, robust flight control law and control allocation method was studied. A cascaded flight control framework based on two-level control allocation was proposed for the significant changes in control strategy and control effectiveness of tilt-rotor unmanned aerial vehicle in different flight modes. A top-level controller was developed for various control modes, and the actual control quantity was generated by a torque control allocation module in conjunction with attitude angle commands using a force control allocation module based on the weighted generalized inverse method. The attitude controller was designed based on a dual closed-loop control structure, and a disturbance observer was added to improve the robustness to external disturbances. Finally, the effectiveness and robustness of the flight control framework and controller were verified by full process simulation and transition simulation under interference conditions.http://www.cjist.com.cn/zh/article/doi/10.11959/j.issn.2096-6652.202510/flight controltilt-rotor unmanned aerial vehiclecontrol allocationweighted generalized inverse method |
| spellingShingle | LIAO Wenan ZHANG Xiaojun DENG Jinlai YANG Yunjie Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation 智能科学与技术学报 flight control tilt-rotor unmanned aerial vehicle control allocation weighted generalized inverse method |
| title | Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation |
| title_full | Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation |
| title_fullStr | Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation |
| title_full_unstemmed | Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation |
| title_short | Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation |
| title_sort | flight control of tilt rotor unmanned aerial vehicle based on two level control allocation |
| topic | flight control tilt-rotor unmanned aerial vehicle control allocation weighted generalized inverse method |
| url | http://www.cjist.com.cn/zh/article/doi/10.11959/j.issn.2096-6652.202510/ |
| work_keys_str_mv | AT liaowenan flightcontroloftiltrotorunmannedaerialvehiclebasedontwolevelcontrolallocation AT zhangxiaojun flightcontroloftiltrotorunmannedaerialvehiclebasedontwolevelcontrolallocation AT dengjinlai flightcontroloftiltrotorunmannedaerialvehiclebasedontwolevelcontrolallocation AT yangyunjie flightcontroloftiltrotorunmannedaerialvehiclebasedontwolevelcontrolallocation |