This paper presents Gaussian Process-based Feedback Linearization Control for quad-tiltrotor to compensate for aerodynamic uncertainty. Unlike the quadrotor platform, the quad-tiltrotor with wing shape is affected by aerodynamic force and moment, which cause unstable behavior in hover and transition modes. The proposed control scheme uses the Bayesian non-parametric method without prior knowledge to estimate the uncertainty with strong nonlinearity. First, we derive the mathematical modeling of the quad-tiltrotor, including an allocation matrix to consider the tilt-angle. Second, feedback linearization controller is designed by choosing desired target response model. Third, Gaussian process-based feedback linearization is proposed to enhance stable flight performance under situations of uncertainty. Lastly, numerical simulation is performed to compare proposed controller with feedback linearization with integral action.


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    Title :

    Gaussian Process-Based Feedback Linearization Control for Quad-Tiltrotor


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:

    Conference:

    Asia-Pacific International Symposium on Aerospace Technology ; 2021 ; Korea (Republic of) November 15, 2021 - November 17, 2021



    Publication date :

    2022-09-30


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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