VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion
The paper seeks to study the control system design of a novel unmanned aerial vehicle (UAV). The UAV is capable of vertical takeoff and landing (VTOL), transition flight and cruising via the technique of direct force control. The incremental nonlinear dynamic inversion (INDI) approach is adopted for...
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2018-01-01
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Series: | International Journal of Aerospace Engineering |
Online Access: | http://dx.doi.org/10.1155/2018/6315856 |
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doaj-4afec373de114071a16dc88cf5c1669b2020-11-25T00:24:00ZengHindawi LimitedInternational Journal of Aerospace Engineering1687-59661687-59742018-01-01201810.1155/2018/63158566315856VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic InversionZhenchang Liu0Jie Guo1Mengting Li2Shengjing Tang3Xiao Wang4School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, ChinaThe paper seeks to study the control system design of a novel unmanned aerial vehicle (UAV). The UAV is capable of vertical takeoff and landing (VTOL), transition flight and cruising via the technique of direct force control. The incremental nonlinear dynamic inversion (INDI) approach is adopted for the 6-DOF nonlinear and nonaffine control of the UAV. Based on the INDI control law, a method of two-layer cascaded optimal control allocation is proposed to handle the redundant and coupled control variables. For the weight selection in optimal control allocation, a dynamic weight strategy is proposed. This strategy can adjust the weight of the objective function according to the flight states and mission requirements, thus determining the optimizing direction and ensuring the rationality of the allocation results. Simulation results indicate that the UAV can track the target trajectory accurately and exhibit continuous maneuverability in transition flight.http://dx.doi.org/10.1155/2018/6315856 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Zhenchang Liu Jie Guo Mengting Li Shengjing Tang Xiao Wang |
spellingShingle |
Zhenchang Liu Jie Guo Mengting Li Shengjing Tang Xiao Wang VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion International Journal of Aerospace Engineering |
author_facet |
Zhenchang Liu Jie Guo Mengting Li Shengjing Tang Xiao Wang |
author_sort |
Zhenchang Liu |
title |
VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion |
title_short |
VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion |
title_full |
VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion |
title_fullStr |
VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion |
title_full_unstemmed |
VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion |
title_sort |
vtol uav transition maneuver using incremental nonlinear dynamic inversion |
publisher |
Hindawi Limited |
series |
International Journal of Aerospace Engineering |
issn |
1687-5966 1687-5974 |
publishDate |
2018-01-01 |
description |
The paper seeks to study the control system design of a novel unmanned aerial vehicle (UAV). The UAV is capable of vertical takeoff and landing (VTOL), transition flight and cruising via the technique of direct force control. The incremental nonlinear dynamic inversion (INDI) approach is adopted for the 6-DOF nonlinear and nonaffine control of the UAV. Based on the INDI control law, a method of two-layer cascaded optimal control allocation is proposed to handle the redundant and coupled control variables. For the weight selection in optimal control allocation, a dynamic weight strategy is proposed. This strategy can adjust the weight of the objective function according to the flight states and mission requirements, thus determining the optimizing direction and ensuring the rationality of the allocation results. Simulation results indicate that the UAV can track the target trajectory accurately and exhibit continuous maneuverability in transition flight. |
url |
http://dx.doi.org/10.1155/2018/6315856 |
work_keys_str_mv |
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1725354495018270720 |