A Robust Nonlinear Flight Control in the Weighted Sobolev Space for a Quadtiltrotor UAV

Author(s)

Campos, Jonatan Mota ; Cardoso, Daniel N. ; Raffo, Guilherme V.

• Document type: Journal article
• Source: SYNERGETIC COOPERATION BETWEEN ROBOTS AND HUMANS, VOL 1, CLAWAR 2023; v. 810, p. 12-pg., 2024-01-01.

Abstract

Special Session: Hybrid and Convertible Unmanned Aerial Vehicles. A robust nonlinear optimal W8 controller is designed for trajectory tracking of a quadtiltrotor Unmanned Aerial Vehicle (UAV) operating in helicopter-flight mode. The proposed controller provides trajectory tracking of the translational position and yaw angle, and set-point regulation of the tilting mechanisms' angles, while stabilizing the roll and pitch dynamics. Unlike most works in literature, the control design is here conducted without any simplification of the multi-body dynamic model of the quadtiltrotor UAV. The efficacy of the proposed control strategy is corroborated by numerical experiment results. (AU)

• FAPESP's process: 22/05052-8 - New methods for set-based state estimation and fault diagnosis of dynamic systems and applications
• Grantee: Brenner Santana Rego
• Support Opportunities: Scholarships in Brazil - Post-Doctoral
• 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