Tri-rotor tilted UAV control and stability investigations based on the nonlinear dynamic inversion technique
Ivan Oliveira Tarifa1; Roberto Mendes Finzi Neto1; Felipe Machini Malachias Marques1; Leonardo Sanches1
1 Universidade Federal de Uberlândia
doi:10.20906/CPS/CILAMCE2017-0704
Resumo
Unmanned Aerial Vehicles(UAV's) have been used in a variety of scenarios such as vigilance, mapping and load transportation. The tri-rotor configuration requires one less motor which can lead to a reduction in weight, volume and energy consumption. The challenge is to find a control strategy such that the tri-rotor can hover at a stable position. According to the literature, the number of studies that have been carried out considering this configuration are small. The use of a tri-rotor UAV must deal with the problem identified using Locally Asymptotically Stabilization(LAS). a control law using only the rotor velocities cannot have a hover stabilization for position and attitude simultaneously via continuous state feedback. So, this paper presents the use of a tilt technology, adding one input for each rotor with a tilt angle (Tilt Rotor UAV - TRUAV)). The control will be done using Nonlinear Dynamic Inversion (NDI), with this methodology a nonlinear control law is created to produce a wanted set of dynamics for the selected controlled variables (CVs). The overall proposed flight controller performance is tested via numerical simulations on the mathematical model of the UAV. The present work was only possible thanks to the FAPEMIG, CAPES and CNPQ support.
Palavras-chave: Unmanned Aerial Vehicle; Nonlinear Dynamic Inversion; Stability; Non-linear