VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion

Autor: Zhenchang Liu, Jie Guo, Mengting Li, Shengjing Tang, Xiao Wang
Jazyk: angličtina
Rok vydání: 2018
Předmět:
Zdroj: International Journal of Aerospace Engineering, Vol 2018 (2018)
Druh dokumentu: article
ISSN: 1687-5966
1687-5974
DOI: 10.1155/2018/6315856
Popis: The paper seeks to study the control system design of a novel unmanned aerial vehicle (UAV). The UAV is capable of vertical takeoff and landing (VTOL), transition flight and cruising via the technique of direct force control. The incremental nonlinear dynamic inversion (INDI) approach is adopted for the 6-DOF nonlinear and nonaffine control of the UAV. Based on the INDI control law, a method of two-layer cascaded optimal control allocation is proposed to handle the redundant and coupled control variables. For the weight selection in optimal control allocation, a dynamic weight strategy is proposed. This strategy can adjust the weight of the objective function according to the flight states and mission requirements, thus determining the optimizing direction and ensuring the rationality of the allocation results. Simulation results indicate that the UAV can track the target trajectory accurately and exhibit continuous maneuverability in transition flight.
Databáze: Directory of Open Access Journals
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