Transition control of tilt rotor unmanned aerial vehicle based on multi-model adaptive method

摘要

Tilt rotor unmanned aerial vehicle (TRUAV) with ability of hovering and high-speed cruise has attached much attention, but its transition control is still a difficult point because of varying dynamics. This paper proposes a multi-model adaptive control (MMAC) method for a quad-TRUAV, and the stability in the transition procedure could be ensured by considering corresponding dynamics. For safe transition, tilt corridor is considered firstly, and actual flight status should locate within it. Then, the MMAC controller is constructed according to mode probabilities, which are calculated by solving a quadratic programming problem based on a set of input-output plant models. Compared with typical gain scheduling control, this method could ensure transition stability more effectively.