Back-stepping control strategy for stabilization of a Tilt-rotor UAV

Author

Chowdhury, Arindam Bhanja ; Kulhare, Anil ; Raina, Gaurav

Author_Institution

Dept. of Electr. Eng., Indian Inst. of Technol. Madras, Chennai, India

fYear

2012

fDate

23-25 May 2012

Firstpage

3475

Lastpage

3480

Abstract

In today´s world, the study and applications of Vertical Take-Off and Landing (VTOL) capable Unmanned Aerial Vehicles (UAVs) have increased vastly. A wide variety of UAVs are currently being employed in both civilian and military sectors. In this paper, our focus will be on the Tilt-rotor UAV. The Tilt-rotor has a rotor on each side of its airframe, tilted to provide both lift and forward thrust to the rotor-craft. We develop a model that aims to enable the Tilt-rotor UAV to hover in one specific position. Because of the under-actuated property of the Tilt-rotor, we design a back-stepping based proportional-derivative (PD) controller. The controller was able to achieve the desired objective of stabilization.

Keywords

PD control; aerospace components; aircraft landing guidance; autonomous aerial vehicles; helicopters; hovercraft; stability; PD controller; VTOL; airframe; backstepping control strategy; civilian sector; hover; military sector; proportional-derivative controller; rotorcraft; stabilization; thrust; tilt rotor UAV; unmanned aerial vehicle; vertical take-off and landing; Atmospheric modeling; Equations; Mathematical model; PD control; Rotors; Torque; Vectors; Lagrangian; back-stepping PD controller; tilt-rotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2012 24th Chinese

Conference_Location

Taiyuan

Print_ISBN

978-1-4577-2073-4

Type

conf

DOI

10.1109/CCDC.2012.6244555

Filename

6244555