Nonlinear robust control of a tilt tripple-rotor unmanned aerial vehicle with experimental verification
JIN Xin
XIAN Bin
Abstract：For the modeling and control design of the tilt trirotor unmanned aerial vehicle(UAV), the dynamic char-acteristics of this UAV are analyzed. The dynamic model uses the motor speed and the tilt angle as the control inputs. Then a nonlinear adaptive robust controller is designed to compensate for the unknown external disturbance and parametric uncertainties. On this basis the asymptotic convergence of the track error is proved based on the Lyapunov methodology and Barbalat's lemma. Finally, the real-time experiments are performed on the hardware in loop testbed. The experimental results show that the proposed control strategy has achieved good control performance.
Keywords：tilt trirotordynamic modelrobust controladaptive
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1303-1310 )