LQR and SMC Stabilization of a New Unmanned Aerial Vehicle
We present our ongoing work on the development
of a new quadrotor aerial vehicle which has a tilt-wing
mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using
Newton-Euler formulation. Linear and nonlinear controllers for
the stabilization of attitude of the vehicle and control of its
altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite
effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also
been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide
satisfactory performance in achieving desired maneuvers.
[1] Boeing, V-22 Osprey, September 13, 2008.
http://www.boeing.com/rotorcraft/military/v22/index.htm
[2] The Bell Eagle Eye UAS, September 13, 2008.
http://www.bellhelicopter.com/en/aircraft/military/bellEagleEye.cfm
[3] J.J. Dickeson, D. Miles, O. Cifdaloz, Wells, V.L. Rodriguez, A.A.,
"Robust LPV H Gain-Scheduled Hover-to-Cruise Conversion for a
Tilt-Wing Rotorcraft in the Presence of CG Variations," American Control Conference. ACC -07 , vol., no., pp.5266-5271, 9-13 July
2007
[4] F. Kendoul, I. Fantoni, R. Lozano, "Modeling and control of a small
autonomous aircraft having two tilting rotors," Proceedings of the 44th
IEEE Conference on Decision and Control, and the European Control
Conference, December 12-15, Seville, Spain, 2005
[5] Snyder, D., "The Quad Tiltrotor: Its Beginning and Evolution," Proceedings
of the 56th Annual Forum, American Helicopter Society,
Virginia Beach, Virginia, May 2000.
[6] K. Nonami, "Prospect and Recent Research & Development for Civil
Use Autonomous Unmanned Aircraft as UAV and MAV," Journal of System Design and Dynamics, Vol.1, No.2, 2007
[7] I. D. Cowling, O. A. Yakimenko, J. F. Whidborne and A. K. Cooke,
"A Prototype of an Autonomous Controller for a Quadrotor UAV,"
European Control Conference 2007 Kos, 2-5 July, Kos, Greek, 2007.
[8] S. Bouabdallah, A. Noth and R. Siegwart, "PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor," Proc. of 2004
IEEE/RSJ Int. Conference on Intelligent Robots and Systems, September
28 - October 2, Sendai, Japan, 2004.
[9] A. Tayebi and S. McGilvray, "Attitude Stabilization of a Four-
Rotor Aerial Robot" 43rd IEEE Conference on Decision and Control, December 14-17 Atlantis, Paradise Island, Bahamas, 2004.
[10] A. Hably and N. Marchand, "Global Stabilization of a Four Rotor
Helicopter with Bounded Inputs", Proc. of the 2007 IEEE/RSJ Int.
Conference on Intelligent Robots and Systems, Oct 29 - Nov 2, San Diego, CA, USA, 2007
[11] S. Bouabdallah and R. Siegwart, "Full Control of a Quadrotor ",
Proc. of the 2007 IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Oct 29 - Nov 2, San Diego, CA, USA, 2007.
[12] Tarek Madani and Abdelaziz Benallegue, "Backstepping Control for a
Quadrotor Helicopter ", Proc. of the 2006 IEEE/RSJ Int. Conference
on Intelligent Robots and Systems, October 9 - 15, Beijing, China,2006.
[13] Tommaso Bresciani, "Modeling Identification and Control of a Quadrotor Helicopter ", Master Thesis, Department of Automatic
Control, Lund University, October, 2008.
[1] Boeing, V-22 Osprey, September 13, 2008.
http://www.boeing.com/rotorcraft/military/v22/index.htm
[2] The Bell Eagle Eye UAS, September 13, 2008.
http://www.bellhelicopter.com/en/aircraft/military/bellEagleEye.cfm
[3] J.J. Dickeson, D. Miles, O. Cifdaloz, Wells, V.L. Rodriguez, A.A.,
"Robust LPV H Gain-Scheduled Hover-to-Cruise Conversion for a
Tilt-Wing Rotorcraft in the Presence of CG Variations," American Control Conference. ACC -07 , vol., no., pp.5266-5271, 9-13 July
2007
[4] F. Kendoul, I. Fantoni, R. Lozano, "Modeling and control of a small
autonomous aircraft having two tilting rotors," Proceedings of the 44th
IEEE Conference on Decision and Control, and the European Control
Conference, December 12-15, Seville, Spain, 2005
[5] Snyder, D., "The Quad Tiltrotor: Its Beginning and Evolution," Proceedings
of the 56th Annual Forum, American Helicopter Society,
Virginia Beach, Virginia, May 2000.
[6] K. Nonami, "Prospect and Recent Research & Development for Civil
Use Autonomous Unmanned Aircraft as UAV and MAV," Journal of System Design and Dynamics, Vol.1, No.2, 2007
[7] I. D. Cowling, O. A. Yakimenko, J. F. Whidborne and A. K. Cooke,
"A Prototype of an Autonomous Controller for a Quadrotor UAV,"
European Control Conference 2007 Kos, 2-5 July, Kos, Greek, 2007.
[8] S. Bouabdallah, A. Noth and R. Siegwart, "PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor," Proc. of 2004
IEEE/RSJ Int. Conference on Intelligent Robots and Systems, September
28 - October 2, Sendai, Japan, 2004.
[9] A. Tayebi and S. McGilvray, "Attitude Stabilization of a Four-
Rotor Aerial Robot" 43rd IEEE Conference on Decision and Control, December 14-17 Atlantis, Paradise Island, Bahamas, 2004.
[10] A. Hably and N. Marchand, "Global Stabilization of a Four Rotor
Helicopter with Bounded Inputs", Proc. of the 2007 IEEE/RSJ Int.
Conference on Intelligent Robots and Systems, Oct 29 - Nov 2, San Diego, CA, USA, 2007
[11] S. Bouabdallah and R. Siegwart, "Full Control of a Quadrotor ",
Proc. of the 2007 IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Oct 29 - Nov 2, San Diego, CA, USA, 2007.
[12] Tarek Madani and Abdelaziz Benallegue, "Backstepping Control for a
Quadrotor Helicopter ", Proc. of the 2006 IEEE/RSJ Int. Conference
on Intelligent Robots and Systems, October 9 - 15, Beijing, China,2006.
[13] Tommaso Bresciani, "Modeling Identification and Control of a Quadrotor Helicopter ", Master Thesis, Department of Automatic
Control, Lund University, October, 2008.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:51138", author = "Kaan T. Oner and Ertugrul Cetinsoy and Efe Sirimoglu and Cevdet Hancer and Taylan Ayken and Mustafa Unel", title = "LQR and SMC Stabilization of a New Unmanned Aerial Vehicle", abstract = "We present our ongoing work on the development
of a new quadrotor aerial vehicle which has a tilt-wing
mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using
Newton-Euler formulation. Linear and nonlinear controllers for
the stabilization of attitude of the vehicle and control of its
altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite
effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also
been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide
satisfactory performance in achieving desired maneuvers.", keywords = "UAV, VTOL, dynamic model, stabilization, LQR, SMC", volume = "3", number = "10", pages = "1172-6", }
