Abstract
This paper studied a tilt tri-rotor UAV (Unmanned Aerial Vehicle) attitude control in hover mode. Firstly, the mathematical model of the tilt tri-rotor UAV is established, in which the propeller forces and moments are analyzed and calculated. On this basis, the attitude dynamic equations are obtained. The mathematical model is used for attitude controller design. Secondly, a backstepping based control scheme is designed for the tilt tri-rotor UAV attitude control, and tracking differentiator (TD) is adopted to improve the control performance of basic backstepping control approach. On this basis, roll, pitch, and yaw angle controllers are designed. Also, different kinds of disturbances are considered, and PID (Proportion-Integral-Differential) controllers are used for comparison. Finally, comparative simulations are carried out by using MATLAB, and the performance of the attitude control system is tested.
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Ma, Y., Wang, Y., Zhao, J., Cai, Z., Liu, N. (2023). Tilt Tri-Rotor UAV Attitude Control in Hover Mode. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_568
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DOI: https://doi.org/10.1007/978-981-19-6613-2_568
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