This paper considers a tilting tri-rotor unmanned aerial vehicle (UAV) with each rotor having a tilting degree of freedom. The dynamic model of this UAV is obtained in this paper, which is a fully-actuated system instead of an underactuated system. Although it is not a redundant system, it also needs control allocator to distribute virtual control commands to actuators. Therefore, we propose a new control allocation method to solve this nonlinear problem. Meanwhile, the Backstepping method is used to build the entire control architecture. Finally, several simulation experiments are conducted to demonstrate our proposed method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Backstepping Method and Control Allocation for a Fully-Actuated Tri-Rotor


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Wang, Yunhe (author) / Zhu, Zhangzhen (author) / Zhang, Yu (author)


    Publication date :

    2021-10-30


    Size :

    15 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Backstepping Method and Control Allocation for a Fully-Actuated Tri-Rotor

    Wang, Yunhe / Zhu, Zhangzhen / Zhang, Yu | TIBKAT | 2022


    Backstepping Method and Control Allocation for a Fully-Actuated Tri-Rotor

    Wang, Yunhe / Zhu, Zhangzhen / Zhang, Yu | British Library Conference Proceedings | 2022


    System Identification for Fully-Actuated UAV Control Allocation

    Spaans, Jos / Gilbert, Sam / Stol, Karl A. et al. | IEEE | 2024


    Gain Scheduling Position Control for Fully-Actuated Morphing Multi-Rotor UAVs

    Aboudorra, Youssef / Saini, Aaron / Franchi, Antonio | IEEE | 2024


    Control Allocation of Over-Actuated Tilt-Rotor Quadcopters with Aerodynamic Interactions

    Maadani, Mohammad / López Muro, Juan / Soriano, Zacharry et al. | AIAA | 2023