| Author(s): |
Cardoso, Daniel N.
;
Esteban, Sergio
;
Raffo, Guilherme V.
;
IEEE
Total Authors: 4
|
| Document type: | Journal article |
| Source: | 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC); v. N/A, p. 7-pg., 2019-01-01. |
| Abstract | |
This work proposes a nonlinear W-infinity controller for a convertible tilt-rotor Unmanned Aerial Vehicle (UAV) in order to solve the trajectory tracking problem during the helicopter-flight mode. The control design for such aircraft is challenging since it is a multi-body, highly-coupled, underactuated mechanical system. Therefore, a controller based on the novel nonlinear W-infinity control approach is designed aiming to guide the translational position and yaw angle toward a desired trajectory, while the remaining degrees of freedom are stabilized. Numerical experiments are carried out to corroborate the efficiency of the control strategy demonstrating robustness, good transient performance and fast response against external disturbances. (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |