论文标题
带有气流矢量传感的固定翼VTOL的自适应非线性控制
Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing
论文作者
论文摘要
固定翼垂直起飞和着陆（VTOL）飞机构成了独特的控制挑战，源于机翼和转子之间的复杂空气动力学相互作用。因此，对于实现高性能飞行，对外力的准确估计是必不可少的。在本文中，我们为固定翼VTOL提供了一个复合自适应非线性跟踪控制器。该方法采用线性力模型的在线适应，并根据三维气流传感器的信息实时生成机翼和转子力的准确估计。该控制器是在定制的固定翼VTOL上实现的，与基线飞行控制器相比，在从悬停到前飞行的过渡阶段，该固定翼VTOL显示了改进的速度跟踪和力预测。
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving high performance flight. In this paper, we present a composite adaptive nonlinear tracking controller for a fixed-wing VTOL. The method employs online adaptation of linear force models, and generates accurate estimation for wing and rotor forces in real-time based on information from a three-dimensional airflow sensor. The controller is implemented on a custom-built fixed-wing VTOL, which shows improved velocity tracking and force prediction during the transition stage from hover to forward flight, compared to baseline flight controllers.
