Enhanced robust adaptive flight control for a convertible VTOL UAV

In this paper, we propose less conservative formulations for candidate controllers of robust adaptive mixing control (RAMC) strategies. The RAMCs are employed to solve the trajectory tracking problem throughout the full flight envelope, with guaranteed stability, of a convertible plane (CP) vertical...

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Detalles Bibliográficos
Autores: Campos, Jonatan M., Cardoso, Daniel N., Esteban Roncero, Sergio, Raffo, Guilherme V.
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2024
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:dnet:idus________::e499a940a1326b65b96cb4dd0738e489
Acceso en línea:https://hdl.handle.net/11441/167457
https://doi.org/10.1016/j.jfranklin.2024.106663
Access Level:acceso abierto
Palabra clave:Convertible UAV
Tiltrotor
Robust control
Adaptive mixing control
Hardware-In-the-Loop
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spelling Enhanced robust adaptive flight control for a convertible VTOL UAVCampos, Jonatan M.Cardoso, Daniel N.Esteban Roncero, SergioRaffo, Guilherme V.Convertible UAVTiltrotorRobust controlAdaptive mixing controlHardware-In-the-LoopIn this paper, we propose less conservative formulations for candidate controllers of robust adaptive mixing control (RAMC) strategies. The RAMCs are employed to solve the trajectory tracking problem throughout the full flight envelope, with guaranteed stability, of a convertible plane (CP) vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). Initially, the multi-body nonlinear dynamic model of the CP VTOL UAV is obtained using the Euler–Lagrange formalism, from which a linear parameter-varying (LPV) model is derived to be used in the design of the RAMC candidate controllers. The new formulations of the candidate controllers are proposed considering two approaches: a (i) Parallel Distributed Compensation (PDC); and (ii) a parameter-dependent Lyapunov function. Hardware-In-the-Loop (HIL) experiments are performed in a high-fidelity flight simulator to verify the fulfillment of real-time constraints, ensuring a computationally lightweight control strategy ready for implementation in a low-cost embedded computational system.Institutos Nacionais de Ciência, Tecnologia e Inovação CNPq 465755/2014-3Institutos Nacionais de Ciência, Tecnologia e Inovação FAPESP 2014/50851-0Fundação de Amparo à Pesquisa do Estado de Minas Gerais BPD-00960-22Ministerio de Ciencia, Innovación y Universidades RTI2018-101519-A-I00Fundação de Amparo à Pesquisa do Estado de Minas Gerais APQ-03090-17Coordenação de aperfeiçoamento de pessoal de nivel superior CNPq 315695/2020-0Coordenação de aperfeiçoamento de pessoal de nivel superior CNPq 422143/2023-5ElsevierIngeniería Aeroespacial y Mecánica de FluidosInstitutos Nacionais de Ciência, Tecnologia e Inovação. BrasilCoordenação de Aperfeiçoamento de Pessoal de Nivel Superior. BrasilFundação de Amparo à Pesquisa do Estado de Minas Gerais (FAPEMIG). BrasilMinisterio de Ciencia, Innovación y Universidades (MICINN). España2024info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/167457https://doi.org/10.1016/j.jfranklin.2024.106663reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésJournal of the Franklin Institute, 361 (5), 106663.CNPq 465755/2014-3FAPESP 2014/50851-0CNPq 315695/2020-0CNPq 422143/2023-5APQ-03090-17BPD-00960-22RTI2018-101519-A-I00https://www.sciencedirect.com/science/article/pii/S0016003224000826info:eu-repo/semantics/openAccessoai:dnet:idus________::e499a940a1326b65b96cb4dd0738e4892026-06-17T12:51:07Z
dc.title.none.fl_str_mv Enhanced robust adaptive flight control for a convertible VTOL UAV
title Enhanced robust adaptive flight control for a convertible VTOL UAV
spellingShingle Enhanced robust adaptive flight control for a convertible VTOL UAV
Campos, Jonatan M.
Convertible UAV
Tiltrotor
Robust control
Adaptive mixing control
Hardware-In-the-Loop
title_short Enhanced robust adaptive flight control for a convertible VTOL UAV
title_full Enhanced robust adaptive flight control for a convertible VTOL UAV
title_fullStr Enhanced robust adaptive flight control for a convertible VTOL UAV
title_full_unstemmed Enhanced robust adaptive flight control for a convertible VTOL UAV
title_sort Enhanced robust adaptive flight control for a convertible VTOL UAV
dc.creator.none.fl_str_mv Campos, Jonatan M.
Cardoso, Daniel N.
Esteban Roncero, Sergio
Raffo, Guilherme V.
author Campos, Jonatan M.
author_facet Campos, Jonatan M.
Cardoso, Daniel N.
Esteban Roncero, Sergio
Raffo, Guilherme V.
author_role author
author2 Cardoso, Daniel N.
Esteban Roncero, Sergio
Raffo, Guilherme V.
author2_role author
author
author
dc.contributor.none.fl_str_mv Ingeniería Aeroespacial y Mecánica de Fluidos
Institutos Nacionais de Ciência, Tecnologia e Inovação. Brasil
Coordenação de Aperfeiçoamento de Pessoal de Nivel Superior. Brasil
Fundação de Amparo à Pesquisa do Estado de Minas Gerais (FAPEMIG). Brasil
Ministerio de Ciencia, Innovación y Universidades (MICINN). España
dc.subject.none.fl_str_mv Convertible UAV
Tiltrotor
Robust control
Adaptive mixing control
Hardware-In-the-Loop
topic Convertible UAV
Tiltrotor
Robust control
Adaptive mixing control
Hardware-In-the-Loop
description In this paper, we propose less conservative formulations for candidate controllers of robust adaptive mixing control (RAMC) strategies. The RAMCs are employed to solve the trajectory tracking problem throughout the full flight envelope, with guaranteed stability, of a convertible plane (CP) vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). Initially, the multi-body nonlinear dynamic model of the CP VTOL UAV is obtained using the Euler–Lagrange formalism, from which a linear parameter-varying (LPV) model is derived to be used in the design of the RAMC candidate controllers. The new formulations of the candidate controllers are proposed considering two approaches: a (i) Parallel Distributed Compensation (PDC); and (ii) a parameter-dependent Lyapunov function. Hardware-In-the-Loop (HIL) experiments are performed in a high-fidelity flight simulator to verify the fulfillment of real-time constraints, ensuring a computationally lightweight control strategy ready for implementation in a low-cost embedded computational system.
publishDate 2024
dc.date.none.fl_str_mv 2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/167457
https://doi.org/10.1016/j.jfranklin.2024.106663
url https://hdl.handle.net/11441/167457
https://doi.org/10.1016/j.jfranklin.2024.106663
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Journal of the Franklin Institute, 361 (5), 106663.
CNPq 465755/2014-3
FAPESP 2014/50851-0
CNPq 315695/2020-0
CNPq 422143/2023-5
APQ-03090-17
BPD-00960-22
RTI2018-101519-A-I00
https://www.sciencedirect.com/science/article/pii/S0016003224000826
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.812429

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