Premium
Robust trajectory tracking control for unmanned tail‐sitters in aggressive flight mode transitions
Author(s) -
Liu Deyuan,
Liu Hao,
Lewis Frank L.
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4626
Subject(s) - control theory (sociology) , controller (irrigation) , trajectory , tracking (education) , mode (computer interface) , computer science , control (management) , position (finance) , control engineering , engineering , physics , artificial intelligence , finance , economics , psychology , pedagogy , astronomy , agronomy , biology , operating system
Summary In this paper, the trajectory tracking control problem is investigated for a new typical tail‐sitter. A robust hierarchical control method is proposed to achieve aggressive flight mode transitions. The proposed control method results in a composite controller including a translational controller and a rotational controller to control the position and attitude respectively. Continuous aggressive flight mode transitions can be achieved without switching on the coordinate systems or the controller structures. It is proven that the tracking errors of the designed closed‐loop system can converge into a given neighborhood of the origin in a finite time. Simulation results show the effectiveness of the proposed control strategy.