Intelligent Control of a Tailsitter UAV during Transition Flight: A Feedback Linearization Approach

Ghanifar, Mana; Nikkhah, Amirali; Khoshnood, Abodolmajied

doi:10.22034/jast.2024.297589.1088

Intelligent Control of a Tailsitter UAV during Transition Flight: A Feedback Linearization Approach

Document Type : Original Article

Authors

Mana Ghanifar

Amirali Nikkhah

Abodolmajied Khoshnood

Department of Aerospace Engineering, K.N. Toosi University of Technology, Tehran, Iran

10.22034/jast.2024.297589.1088

Abstract

This study introduces a hybrid algorithm designed for trajectory tracking control during the
transition flight of a tailsitter Unmanned Aerial Vehicle (UAV), employing an integration of
neural networks and a genetic optimization algorithm. The tailsitter UAV ducted fan tailsitter,
which has been augmented with two additional wings to enhance its flight capabilities. The
foundation of the intelligent controller lies in the feedback linearization method, with
performance enhancements achieved through online neural network training coupled with a
genetic optimization algorithm. To validate the effectiveness of the proposed algorithm in
controlling the UAV during transition flight, simulations were conducted within the Matlab-
Simulink software environment.

Keywords

UAV

Feedback Linearization

Transition Flight

Neural Network

Genetic Algorithm

Subjects

Flight Mechanics Stability & Contorl

Saeed AS, Younes AB, Islam S, Dias J, Seneviratne L, Cai G (2015) A review on the platform design, dynamic modeling and control of hybrid UAVs. In: 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc., pp 806–815
Li Z, Zhang L, Liu H, Zuo Z, Liu C (2018) Nonlinear robust control of tail-sitter aircrafts in flight mode transitions. Aerosp Sci Technol 81:348–361. https://doi.org/10.1016/j.ast.2018.08.021
Argyle ME, Beard RW, Morris S (2013) The Vertical Bat tail-sitter: Dynamic model and control architecture. In: Proceedings of the American Control Conference. Institute of Electrical and Electronics Engineers Inc., pp 806–811
Argyle M (2016) Modeling and Control of a Tailsitter with a Ducted Fan. Theses and Dissertations
Mhmood AH, Ali HI (2021) Optimal H-infinity PID Model Reference Controller Design for Roll Control of a Tail-Sitter VTOL UAV. Engineering and Technology Journal 39:552–564. https://doi.org/10.30684/etj.v39i4A.1861
Liu D, Liu H, Zhang J, Lewis FL (2021) Adaptive attitude controller design for tail-sitter unmanned aerial vehicles. JVC/Journal of Vibration and Control 27:185–196. https://doi.org/10.1177/1077546320925350
Yang Y, Zhu J, Yuan X, Wang X, Kuang M, Shi H (2024) Dynamic characteristics analysis and robust transition control of tail-sitter VTOL UAVs. Aerosp Sci Technol 145:108868. https://doi.org/10.1016/j.ast.2024.108868
Kumar T, Kothari M, Bhattacharya R (2024) H_\infty Robust Control of a Quadrotor Biplane Tailsitter UAV. In: AIAA SCITECH 2024 Forum. American Institute of Aeronautics and Astronautics, Reston, Virginia
Li Z, Zhou W, Liu H (2018) Robust Controller Design for a Tail-sitter UAV in Flight Mode Transitions. In: IEEE International Conference on Control and Automation, ICCA. IEEE Computer Society, pp 763–768
Van ’t Veld RC (2016) Incremental Nonlinear Dynamic Inversion Flight Control Stability and Robustness Analysis and Improvements. Delft University of Technology Department of Control and Simulation
Li B, Zhou W, Sun J, Wen CY, Chen CK (2018) Model predictive control for path tracking of a VTOL tail-sitter UAV in an HIL simulation environment. In: AIAA Modeling and Simulation Technologies Conference, 2018. American Institute of Aeronautics and Astronautics Inc, AIAA
Li B (2019) Model predictive hover control and transition optimization for a tail-sitter unmanned aerial vehicle. Hong Kong Polytechnic University
Martinez V, Garcia O, Sanchez A, Parra V, Escobar A (2016) Adaptive backstepping control for a convertible UAV. In: 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc., pp 298–307
Knoebel N (2007) Adaptive Quaternion Control for a Miniature Tailsitter UAV. Theses and Dissertations
Knoebel NB, Osborne SR, Snyder DO, McLain TW, Beard RW, Eldredge AM (2006) Preliminary modeling, control, and trajectory design for miniature autonomous tailsitters. In: Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006. pp 4917–4928.
Osborne SR (2007) Transitions between Hover and Level Flight for a Tailsitter UAV. Master of Science Thesis, Brigham Young University