Modeling and control of a Tilt-rotor UAV with improved forward flight
Daniel Neri Cardoso1; Guilherme Vianna Raffo1; Sergio Esteban Roncero2
1 Universidade Federal de Minas Gerais; 2 Universidad de Sevilla
Resumo
This work describes the modeling and control of a tilt-rotor UAV with tail controlled surfaces for path tracking with improved forward velocity. The dynamic model is obtained using the Euler-Lagrange formulation. Mixed H_2/ H-infinity controllers are designed for different operation points, whose feedback gains are interpolated by a neural network for online gain-scheduling, performing a smooth transition between them. Simulation results show the control strategy efficiency when the UAV is designated to have a forward acceleration and do a circular trajectory, subject to wind perturbation.
Palavras-chave: UAV; Tilt-rotor; Robust control; Neural Network