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Nonlinear Robust Control for Tilt Rotor UAV with Convex Polytopic Uncertainty

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Computer Science and Education (ICCSE 2022)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1811))

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Abstract

This paper focuses on the nonlinear robust control problem for the modal conversion of tilt rotor UAVs with parameter perturbation, external disturbance and input constraints. Based on the NPV model of the tilt rotor UAV with convex polytopic uncertainty, the corresponding nonlinear robust state feedback stabilization controller is designed using Lyapunov stability and polynomial sum of squares (SOS) theories. Furthermore, by using the generalised S-procedure, the solvable conditions of nonlinear robust control satisfying the input constraints is established, which can be effectively checked with the aid of convex optimization tools. The simulation results show that the obtained controller satisfies the saturation constraint, and can well suppress the external disturbance and adaptive parameter perturbation in the process of realizing the modal conversion of the tilt rotor UAV.

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Acknowledgments

The work was supported in part by Natural Science Foundation of Fujian Province, China(No. 2020J01284), the Science and Research Project of Fujian Province, China (No. JAT200495); Science and Technology project of Xiamen (3502Z20203066) and Science and Technology Innovation Project for Graduate Students of Xiamen University of Technology (YKJCX2021–114).

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Authors and Affiliations

  1. School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen, 361024, China

    Yucheng Wang, Yanru Zhou & Jingyi Zheng

Authors
  1. Yucheng Wang
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  2. Yanru Zhou
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  3. Jingyi Zheng
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Corresponding author

Correspondence to Yanru Zhou .

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Editors and Affiliations

  1. Xiamen University, Xiamen, China

    Wenxing Hong

  2. Sichuan University, Chengdu, China

    Yang Weng

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Wang, Y., Zhou, Y., Zheng, J. (2023). Nonlinear Robust Control for Tilt Rotor UAV with Convex Polytopic Uncertainty. In: Hong, W., Weng, Y. (eds) Computer Science and Education. ICCSE 2022. Communications in Computer and Information Science, vol 1811. Springer, Singapore. https://doi.org/10.1007/978-981-99-2443-1_59

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  • DOI: https://doi.org/10.1007/978-981-99-2443-1_59

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-2442-4

  • Online ISBN: 978-981-99-2443-1

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