To break the abovementioned limitations, the tilt-rotor UAVs (TRUAVs) have become a focus of UAV research. However, their applications are always limited by flexibility, payload, and endurance, which are concerned with their own typical structures and dynamical systems. Introductionįixed-wing unmanned aerial vehicles (FWUAVs) and rotorcraft unmanned aerial vehicles (RUAVs), as representations of aircraft with conventional structures, have played important roles in military and civil fields for a long time. Simulations and hovering flight tests are carried out to verify the effectiveness of the mathematical model and the proposed control strategy. The designed flight control law has a simple structure with a high reliability in engineering. To deal with the actuator saturation and uncertain disturbance problems for the novel TRUAV, an improved flight control law based on the combination of the robust servo linear quadratic regulator (RSLQR) optimal control and the extended state observer (ESO) is proposed. For control design purposes, the dynamics equation is linearized around the hovering equilibrium point, and a control allocation method based on trim calculation is developed. Then, the detailed nonlinear mathematical model is established, and the parameters are acquired from designed experiments and numerical analyses. First, a new configuration scheme with the tilting rotors is designed. ![]() This paper presents the control system design process of a novel tilt-rotor unmanned aerial vehicle (TRUAV).
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