State-Dependent LQR Control for a Tilt-Rotor UAV

被引：0
|
作者：
Willis, Jacob [1 ]
Johnson, Jacob [1 ]
Beard, Randal W. [2 ]
机构：
[1] BYU MAGICC Lab, Provo, UT USA
[2] Brigham Young Univ, Elect & Comp Engn, Provo, UT 84602 USA
来源：
2020 AMERICAN CONTROL CONFERENCE (ACC) | 2020年
基金：
美国国家科学基金会;
关键词：
D O I：
10.23919/acc45564.2020.9147931
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper develops a control scheme capable of controlling a tilt-rotor unmanned aerial vehicle during nominal hover and fixed-wing flight as well as through transitions between flight modes. The control scheme consists of two parts: a low-level angular rate controller and variable mixer, and a trajectory tracking state-dependent LQR controller. In developing this controller we also present an aerodynamic model of a tilt-rotor with parameters for the Convergence aircraft by E-Flite. Finally we present simulation results for a representative trajectory consisting of vertical takeoff and landing as well as fixed-wing flight.
引用
收藏
页码：4175 / 4181
页数：7
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