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Volume 49 Issue 9
Oct.  2023
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Journal of Beijing University of Aeronautics and Astronautics  > 2023  >  49(9): 2501-2509.
WANG S Y，ZHANG J，YANG L Y. Attitude control law based on L1-ITD for a tail-sitter UAV[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（9）：2501-2509 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0681
Citation: WANG S Y，ZHANG J，YANG L Y. Attitude control law based on L1-ITD for a tail-sitter UAV[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（9）：2501-2509 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0681
shu

Attitude control law based on L1-ITD for a tail-sitter UAV

doi: 10.13700/j.bh.1001-5965.2021.0681

  • School of Automation Science and Electrical Engineering，Beihang University，Beijing 100191，China

More Information
  • Corresponding author: E-mail：zhangjing2013@buaa.edu.cn
  • Received Date: 11 Nov 2021
  • Accepted Date: 21 Jan 2022
  • Publish Date: 16 Feb 2022
    Abstract

  • Aiming at the problem that the tail-sitter UAV is sensitive to wind disturbance in the vertical take-off and landing (VTOL) stage, an attitude control law based on L1-ITD is proposed. Firstly, a 6-DOF nonlinear model of a tail-sitter UAV in VTOL stage is established, and an L1 adaptive attitude controller for the UAV is designed. The controller can suppress the influence of disturbance on system performance and achieve good attitude control performance with wind disturbance and model uncertainty in VTOL stage. Then, aiming at the problem that L1 adaptive control method is sensitive to measurement noise and cannot directly obtain effective differential signal, an improved tracking differentiator is used to track the signal quickly and accurately while suppressing the influence of measurement noise. Finally, the simulation results demonstrate the effectiveness of the proposed control method.

     

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