文章基本信息

标题：Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs
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作者：Nihal Dalwadi ; Dipankar Deb ; Mangal Kothari 等
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2021
卷号：10
期号：6
页码：119
DOI：10.3390/act10060119
出版社：MDPI Publishing
摘要：The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. The hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits of both rotary-wing aircraft and fixed-wing aircraft. However, the vehicle requires a robust controller for takeoff, landing, transition, and hovering modes because the aerodynamic parameters differ in those modes. We consider a nonlinear observer-based backstepping controller in the control design and provide stability analysis for handling parameter variations and external disturbances. We carry out simulations in MATLAB Simulink which show that the nonlinear observer contributes more to robustness and overall closed-loop stability, considering external disturbances in takeoff, hovering and landing phases. The backstepping controller is capable of decent trajectory-tracking during the transition from hovering to level flight and vice versa with nominal altitude drop.
关键词：quadrotor tail-sitter UAV; nonlinear observer; backstepping control; trajectory-tracking quadrotor tail-sitter UAV ; nonlinear observer ; backstepping control ; trajectory-tracking