Attitude Stability of tilt-rotor UAV during Obstacle Avoidance and Transition mode
DOI:
https://doi.org/10.61173/59850y80Keywords:
UAV, tilt-rotor, Transition flight, PID con-troller, Genetic Algorithm (GA), trajectory optimization, flight simulationAbstract
This paper presents a comprehensive study focused on the optimization and enhancement of the control system for tilt-rotor Unmanned Aerial Vehicles (UAVs) during the critical transition phase. We have developed a two-dimensional system dynamics model of the tilt-rotor UAV and utilized Simulink simulations to analyze and refine the control strategies. Specifically, we have implemented Proportional-Integral-Derivative (PID) controllers to stabilize the UAV, while employing Genetic Algorithm (GA) techniques to optimize the trajectory of the UAV.
References
[1] Z. Chen and H. Jia, “Design of Flight Control System for a Novel Tilt-Rotor UAV,” Complexity, vol. 2020, pp. 1–14, Mar. 2020, doi: https://doi.org/10.1155/2020/4757381.
[2] A.C. Daud Filho and E. M. Belo, “A tilt-wing VTOL UAV configuration: Flight dynamics modelling and transition control simulation,” The Aeronautical Journal, vol. 128, no. 1319, pp. 152–177, May 2023, doi: https://doi.org/10.1017/aer.2023.34.
[3] B. Na, H. Choi, and K. Kong, “Design of a Direct-Driven Linear Actuator for a High-Speed Quadruped Robot, Cheetaroid-I,” IEEE/ASME Transactions on Mechatronics, vol. 20, no. 2, pp. 924–933, Apr. 2015, doi: https://doi.org/10.1109/tmech.2014.2326696.
[4] Pavan N, “Design of Tiltrotor VTOL and Development of Simulink Environment for Flight Simulation”
[5] “Docs,” Feishu.cn,2024. https://u0hfx9kgt5s.feishu.cn/docx/ Rlf3dZuIOoXvTcxk0VNcA3ZInxh (accessed Aug. 22, 2024).
[6] Q. zhang, J. zhang, X. Wang, Y. Xu, and Z. Yu, “Wind Field Disturbance Analysis and Flight Control System Design for a Novel Tilt-Rotor UAV,” Ieee.org, 2024. https://ieeexplore.ieee. org/stamp/stamp.jsp?arnumber=9265198 (accessed Aug. 17, 2024).
[7] Aabid, Abdul & Parveez, Bisma & Parveen, Nagma & Khan, Sher & Raheman, Md Abdul & Zayan, Mohammed & Ahmed, Omar. (2022). Reviews on Design and Development of Unmanned Aerial Vehicle (Drone) for Different Applications. Journal of Mechanical Engineering Research and Developments. 45. 53-69.
[8] T. Lombaerts, J. Kaneshige, S. Schuet, G. H. Hardy, B. L. Aponso, and K. H. Shish, “Nonlinear Dynamic Inversion Based Attitude Control for a hovering quad tiltrotor eVTOL vehicle,” Jan. 2019, doi: https://doi.org/10.2514/6.2019-0134.
[9] Mehdi Zareb, W. Nouibat, Yasmina Bestaoui, R. Ayad, and Yasser Bouzid, “Evolutionary Autopilot Design Approach for UAV Quadrotor by Using GA,” Iranian Journal of Science and Technology-Transactions of Electrical Engineering, vol. 44, no. 1, pp. 347–375, Mar. 2020, doi: https://doi.org/10.1007/s40998- 019-00214-6.
[10] M. Atmaca, B. Çetin, and E. Yılmaz, “CFD Analysis of Unmanned Aerial Vehicles (UAV) Moving in Flocks,” Acta Physica Polonica A, vol. 135, no. 4, pp. 694–696, Apr. 2019, doi: https://doi.org/10.12693/aphyspola.135.694.
[11] Jingyi Liu, “Overview of Key Technologies for Tilt-Rotor UAV,” Journal of Aerospace Science and Technology, vol. 10, no. 04, pp. 99–107, Jan. 2022, doi: https://doi.org/10.12677/ jast.2022.104011.
[12] Z. Zuo, C. Liu, Q.-L. Han, and J. Song, “Unmanned Aerial Vehicles: Control Methods and Future Challenges,” IEEE/CAA Journal of Automatica Sinica, vol. 9, no. 4, pp. 601–614, Apr. 2022, doi: https://doi.org/10.1109/jas.2022.105410.
[13] M. Gemeinder and M. Gerke, “GA-based path planning for mobile robot systems employing an active search algorithm,” Applied Soft Computing, vol. 3, no. 2, pp. 149–158, Sep. 2003, doi: https://doi.org/10.1016/s1568-4946(03)00010-3.
Downloads
Published
Issue
Section
License
Copyright (c) 2025 by the authors.
This work is licensed under a Creative Commons Attribution 4.0 International License.
