Tailsitter unmanned aerial vehicles are utilized extensively nowadays since they merge advantages of both fixed-wing unmanned aerial vehicles and rotary-wing unmanned aerial vehicles. However, their attitude control suffers from unknown nonlinearities and disturbances due to the wide flight envelope. To solve the problems, a robust attitude controller based on a newly designed flying-wing tailsitter is proposed in this paper. By employing the angular acceleration feedback to compensate unmodeled dynamics, the proportional incremental nonlinear dynamic inversion control law is first developed. The proportional incremental nonlinear dynamic inversion strengthens the conventional nominal gain incremental nonlinear dynamic inversion with a proportional term to reflect the change of the angular acceleration more directly. Therefore, the tailsitter has a quicker response and performs better in suppressing model uncertainties and external disturbances. Since the angular acceleration is difficult to measure in practice, an angular acceleration estimation method is then established to provide accurate signals for the proportional incremental nonlinear dynamic inversion. The signals are derived as complementary results of model prediction method and direct differential method. Theoretical analysis and systematic simulations are conducted to corroborate the effectiveness of the developed estimation method as well as the robustness of the proposed controller.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust proportional incremental nonlinear dynamic inversion control of a flying-wing tailsitter


    Contributors:


    Publication date :

    2020-12-01


    Size :

    22 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Tailsitter VTOL flying wing aircraft attitude control

    Liang, Jianjian / Fei, Qing / Wang, Bo et al. | IEEE | 2016


    BLOWN FLYING-WING CTOL/VTOL TAILSITTER AIRCRAFT

    DIETRICH CARL / LOZANO BRIAN / MYJAK JEFF et al. | European Patent Office | 2022

    Free access

    Blown flying wing CTOL/VTOL tailsitter aircraft

    DIETRICH CARL / LOZANO BRIAN / MYJAK JEFF et al. | European Patent Office | 2023

    Free access

    Blown Flying Wing CTOL/VTOL Tailsitter Aircraft

    DIETRICH CARL / LOZANO BRIAN / MYJAK JEFF et al. | European Patent Office | 2021

    Free access