$L_{1}$ Adaptive Control of a Dual-Rotor Tail-Sitter Unmanned Aerial Vehicle With Input Constraints During Hover Flight Article Swipe
Jingyang Zhong
,
Bifeng Song
,
Yubin Li
,
Jianlin Xuan
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1109/access.2019.2911897
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1109/access.2019.2911897
The input constraints of control surfaces may lead to saturations, which could limit the achievable performance or even cause instability of vertical take-off and landing (VTOL) tail-sitter unmanned aerial vehicle (UAV). To improve flight safety and attitude tracking performance, a novel L1 adaptive control architecture for attitude tracking of a tail sitter subjected to input constraints is proposed in this study. The imprecise mathematical model, low weight, and small size all present different challenges when designing a control system. In this work, a feedforward compensator is first used to narrow down the uncertain bounds with the consideration of finite accuracy from prior knowledge. Second, according to the linearized model, a baseline controller is designed to offer basic performance for a nominal system without uncertainty. Finally, the L1 adaptive controller is developed to compensate for unmatched uncertainties based on the control system developed before. The stability and performance bounds of the closed-loop system are analyzed to illustrate the impact of input constraints. The numerical simulations and flight tests are carried out to verify the improved attitude tracking performance when input saturation exists.
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- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/access.2019.2911897
- https://ieeexplore.ieee.org/ielx7/6287639/8600701/08694005.pdf
- OA Status
- gold
- Cited By
- 11
- References
- 35
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2940508338
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- OpenAlex ID
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https://openalex.org/W2940508338Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1109/access.2019.2911897Digital Object Identifier
- Title
-
$L_{1}$ Adaptive Control of a Dual-Rotor Tail-Sitter Unmanned Aerial Vehicle With Input Constraints During Hover FlightWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-01-01Full publication date if available
- Authors
-
Jingyang Zhong, Bifeng Song, Yubin Li, Jianlin XuanList of authors in order
- Landing page
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https://doi.org/10.1109/access.2019.2911897Publisher landing page
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https://ieeexplore.ieee.org/ielx7/6287639/8600701/08694005.pdfDirect link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://ieeexplore.ieee.org/ielx7/6287639/8600701/08694005.pdfDirect OA link when available
- Concepts
-
Control theory (sociology), Attitude control, Computer science, Controller (irrigation), Adaptive control, Tracking (education), Control system, Control engineering, Control (management), Artificial intelligence, Engineering, Pedagogy, Electrical engineering, Agronomy, Psychology, BiologyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
11Total citation count in OpenAlex
- Citations by year (recent)
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2025: 2, 2024: 1, 2023: 3, 2022: 2, 2021: 2Per-year citation counts (last 5 years)
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35Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| publication_date | 2019-01-01 |
| publication_year | 2019 |
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