This paper presents an adaptive controller using a neural network to compensate for model uncertainty during transition flight. Time-scale separated nonlinear dynamic inversion (NDI) control is applied to regulate tiltrotor UAV state against high nonlinearly. A neural network (NN) is also introduced to transition flight control to control the existing model uncertainties. Since the tiltrotor UAV can operate in both CTOL mode and VTOL mode, a flight control system according to each flight mode has been implemented. A linear control mixing technique is applied to the tilting angle for safe transition flight between two modes. The robust control method for the tiltrotor UAV proposed in this study was verified for altitude and attitude control in transitional flight numerical simulation.
Adaptive Transition Control of a Tiltrotor UAV Using Dynamic Inversion with Neural Network
Lect. Notes Electrical Eng.
Asia-Pacific International Symposium on Aerospace Technology ; 2021 ; Korea (Republic of) November 15, 2021 - November 17, 2021
The Proceedings of the 2021 Asia-Pacific International Symposium on Aerospace Technology (APISAT 2021), Volume 2 ; Kapitel : 58 ; 783-795
2022-09-30
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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