This paper presents Gaussian Process-based Feedback Linearization Control for quad-tiltrotor to compensate for aerodynamic uncertainty. Unlike the quadrotor platform, the quad-tiltrotor with wing shape is affected by aerodynamic force and moment, which cause unstable behavior in hover and transition modes. The proposed control scheme uses the Bayesian non-parametric method without prior knowledge to estimate the uncertainty with strong nonlinearity. First, we derive the mathematical modeling of the quad-tiltrotor, including an allocation matrix to consider the tilt-angle. Second, feedback linearization controller is designed by choosing desired target response model. Third, Gaussian process-based feedback linearization is proposed to enhance stable flight performance under situations of uncertainty. Lastly, numerical simulation is performed to compare proposed controller with feedback linearization with integral action.
Gaussian Process-Based Feedback Linearization Control for Quad-Tiltrotor
Lect. Notes Electrical Eng.
Asia-Pacific International Symposium on Aerospace Technology ; 2021 ; Korea (Republic of) November 15, 2021 - November 17, 2021
The Proceedings of the 2021 Asia-Pacific International Symposium on Aerospace Technology (APISAT 2021), Volume 2 ; Kapitel : 1 ; 3-15
30.09.2022
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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