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Modeling and Passivity-Based Control for a convertible fixed-wing VTOL

Author

Listed:
  • Durán-Delfín, J.E.
  • García-Beltrán, C.D.
  • Guerrero-Sánchez, M.E.
  • Valencia-Palomo, G.
  • Hernández-González, O.

Abstract

This article presents a mathematical model and a controller for a convertible fixed-wing Vertical Take-Off and Landing (VTOL). The mathematical model considers the aerodynamic forces generated by the motors. The developed Passivity-Based Control (PBC) law stabilizes the rotational and translational dynamics of a convertible Unmanned Aerial Vehicle (UAV) in the transition stages of cruise-stationary flight. The control objective is to allow the realization of the two flight regimes of a convertible VTOL along a trajectory. A control assignment technique is also presented that allows the decoupling of the angles of the front motors so that they can have different positions. Finally, numerical simulations are carried out to validate the performance of the presented algorithm. The results indicate that this controller can provide enough maneuverability to track different trajectories with good performance.

Suggested Citation

  • Durán-Delfín, J.E. & García-Beltrán, C.D. & Guerrero-Sánchez, M.E. & Valencia-Palomo, G. & Hernández-González, O., 2024. "Modeling and Passivity-Based Control for a convertible fixed-wing VTOL," Applied Mathematics and Computation, Elsevier, vol. 461(C).
    • Handle: RePEc:eee:apmaco:v:461:y:2024:i:c:s0096300323004678
    DOI: 10.1016/j.amc.2023.128298
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    References listed on IDEAS

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    1. Simone Fiori & Luca Bigelli & Federico Polenta, 2022. "Lie-Group Type Quadcopter Control Design by Dynamics Replacement and the Virtual Attractive-Repulsive Potentials Theory," Mathematics, MDPI, vol. 10(7), pages 1-37, March.
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