Linear quadratic optimal trajectory-tracking control of a longitudinal thrust vectoring-enabled unmanned Tri-TiltRotor

Christos Papachristos, Kostas Alexis, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The optimal trajectory-tracking control of a Tri-TiltRotor Unmanned Aerial Vehicle is the subject of this paper. This specific UAV design possesses the capability to control the orientation of its main rotors, thus enabling operation in both the Vertical Take-Off and Landing as well as the Fixed-Wing flight mode configuration. The translational controller developed is based on a Linear-Quadratic tracking scheme. Additionally to the proposed controller, the newly introduced capability for rotor-tilting, and thus thrust vectoring, as provided by this design is proposed for its utilization in the control of the longitudinal degree-of-freedom of the UAV. Simulation and experimental results are presented, demonstrating both the overall proposed controller's efficiency, as well as the clear advantage gained by the aforementioned proposed strategy, with regard to the controlled system's longitudinal control performance.

Original languageEnglish (US)
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages4174-4179
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: Nov 10 2013Nov 14 2013

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period11/10/1311/14/13

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Papachristos, C., Alexis, K., & Tzes, A. (2013). Linear quadratic optimal trajectory-tracking control of a longitudinal thrust vectoring-enabled unmanned Tri-TiltRotor. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 4174-4179). [6699805] https://doi.org/10.1109/IECON.2013.6699805