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Multiple Modeling and Fuzzy Switching Control of Fixed-Wing VTOL Tilt-Rotor UAV

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Fuzzy Techniques: Theory and Applications (IFSA/NAFIPS 2019 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1000))

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Abstract

This paper presents a detailed aerodynamic modeling technique along with a fuzzy switching multi-model guidance and control strategy for a custom blended wing-body tilt-rotor unmanned aerial vehicle (UAV). The tilt-rotor configuration affects the overall aerodynamic characteristics significantly and hence, a comprehensive mathematical model is required. Thus, after a configuration selection and design process, a 6DOF mathematical model including a thrust model, propeller effects on the wings and free-stream aerodynamics is developed in this work. Due to a higher tendency of inherently unstable motion with increasing rotor angles and rapidly changing aerodynamic characteristics, multiple models are generated to cover the whole tilting regime. For the control of tilting motion, gain-scheduled flight controllers are preferred. While switching between the models, a fuzzy logic based algorithm is employed. The proposed technique is able to successfully control the aircraft for a full flight envelope from hover to landing. It is also evident from the results that, in the same tilting duration, the fuzzy switching algorithm helps the UAV to show a superior tracking performance when compared to the linear switching technique at a fixed tilting rate.

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Acknowledgements

This research is supported by the National Research Foundation, Prime Ministers Office, Singapore under its Medium-Sized Centre funding scheme.

Author information

Authors and Affiliations

  1. Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore

    Yunus Govdeli

  2. Department of Mechanical Systems Engineering, Nagoya University, Nagoya, 464-8603, Japan

    Anh Tuan Tran

  3. Department of Engineering, Aarhus University, 8200, Aarhus, Denmark

    Erdal Kayacan

Authors
  1. Yunus Govdeli
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  2. Anh Tuan Tran
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  3. Erdal Kayacan
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Corresponding author

Correspondence to Erdal Kayacan .

Editor information

Editors and Affiliations

  1. Department of Mathematics, University of Louisiana at Lafayette, Lafayette, LA, USA

    Ralph Baker Kearfott

  2. Center for Computing Research (CIC), Instituto Politecnico Nacional, Ciudad de Mexico, Mexico

    Ildar Batyrshin

  3. Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada

    Marek Reformat

  4. Department of Computer Science, University of Texas at El Paso, El Paso, TX, USA

    Martine Ceberio

  5. Department of Computer Science, University of Texas at El Paso , El Paso, TX, USA

    Vladik Kreinovich

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Govdeli, Y., Tran, A.T., Kayacan, E. (2019). Multiple Modeling and Fuzzy Switching Control of Fixed-Wing VTOL Tilt-Rotor UAV. In: Kearfott, R., Batyrshin, I., Reformat, M., Ceberio, M., Kreinovich, V. (eds) Fuzzy Techniques: Theory and Applications. IFSA/NAFIPS 2019 2019. Advances in Intelligent Systems and Computing, vol 1000. Springer, Cham. https://doi.org/10.1007/978-3-030-21920-8_25

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