A hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance
A hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance
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DOI：
10.1109/robot.2010.5509183
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发表时间：
2010-05
期刊：
影响因子：
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通讯作者：
Takaaki Matsumoto;K. Kita;R. Suzuki;Atsushi Oosedo;Kenta Go;Yuta Hoshino;A. Konno;M. Uchiyama
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文献类型：
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作者：
Takaaki Matsumoto;K. Kita;R. Suzuki;Atsushi Oosedo;Kenta Go;Yuta Hoshino;A. Konno;M. Uchiyama
随着性能的升级，无人机的应用范围不断扩大。垂直起降（VTOL）飞机兼具固定翼飞机和旋翼飞机的优点。尾座是 VTOL 机动最简单的方法，因为它不需要额外的执行器。然而，尾停无人机的传统悬停控制对于强风、鸟击等大扰动的鲁棒性不够。实验观察到，传统的四元数反馈悬停控制在补偿较大的姿态误差时往往无法保持稳定。本文提出了一种用于尾座垂直起降无人机的新型悬停控制策略，可提高针对大干扰的稳定性。为了验证所提出的悬停控制策略，对无人机进行了较大姿态误差的悬停仿真和实验。结果表明，所提出的控制策略成功地补偿了初始大姿态误差并保持稳定，而传统的四元数反馈控制器却失败了。
The application range of UAVs (unmanned aerial vehicles) is expanding along with performance upgrades. Vertical take-off and landing (VTOL) aircraft has the merits of both fixed-wing and rotary-wing aircraft. Tail-sitting is the simplest way for the VTOL maneuver since it does not need extra actuators. However, conventional hovering control for a tail-sitter UAV is not robust enough against large disturbance such as a blast of wind, a bird strike, and so on. It is experimentally observed that the conventional quaternion feedback hovering control often fails to keep stability when the control compensates large attitude errors. This paper proposes a novel hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance. In order to verify the proposed hovering control strategy, simulations and experiments on hovering of the UAV are performed giving large attitude errors. The results show that the proposed control strategy successfully compensates initial large attitude errors keeping stability, while the conventional quaternion feedback controller fails.