A Nonlinear W-infinity Controller of a Tilt-rotor UAV for trajectory tracking

Autor(es)

Cardoso, Daniel N. ; Esteban, Sergio ; Raffo, Guilherme V. ; IEEE

• Tipo de documento: Artigo Científico
• Fonte: 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC); v. N/A, p. 7-pg., 2019-01-01.

Resumo

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)

• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático