Redistributed scaling pseudo-inverse based hybrid VTOL UAV flight control
WANG Yin
TAN Ji-yun
Abstract：The Hybrid UAV has aerodynamic configuration and flight modes of both fixed wing and rotor wing UAVs.In transition process from rotor mode to fixed wing mode,the aerodynamic characteristics are complex,flight mode changes greatly,and the control mechanism coupling is strong,which puts forward higher requirements for the robustness of flight control method.Based on redistributed scaling pseudo-inverse algorithm and incremental back-stepping theory,an attitude control method of a Hybrid UAV is studied.Aiming at the problem that aerodynamic characteristics vary greatly during flight,an incremental back-stepping attitude control method based on gain scheduling theory was proposed,which can adjust the controller parameters adaptively according to the modal characteristics of flight,and the stability of the proposed method was analyzed theoretically.In order to solve the problem of control mechanism transition from rotor-craft mode to fixed wing mode,an optimal control structure allocation method based on redistributed scaling pseudo-inverse method was proposed,which improved the tracking ability of control commands during flight.The simulation results show that the incremental back-stepping control method based on redistributive pseudo-inverse can achieve flight control with higher flight quality than the direct allocation inversion method,and the attitude tracking error and altitude tracking error are reduced by 39％and 87％during transition flight.
Keywords：nonlinear systemincremental controlback-steppingredistributed scaling pseudo-inversegain scheduling
Publication Date：2024-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1765-1773 )