Design and Simulation on Autonomous Landing of a Quad Tilt Rotor

doi:10.16182/j.issn1004731x.joss.18-0135

Abstract

Abstract: Aiming at the under-actuation of general quadrotors, a novel quad tilt rotor model is proposed. The model decouples the y-direction translation and roll rotation of a quadrotor by the four servos used respectively for the tilting control of the four propellers to realized the tilt hover and tilt flight of the UAV, the UAV can keep a tilt attitude which increases the maneuverability and the precise pose position and attitude control of the tilt UAV and ensures a good performance on the trajectory tracking and landing. A 5-degree polynomial optimization is used in UAV trajectory planning for the strong robustness and optimal distance. The quad tilt rotor model is verified by Matlab/Simulink, and the results show that the aircraft with the proposed model could land on a slope or moving platform more quickly and accurately.

Key words: quadrotor, tilt rotor, landing, decoupling control, trajectory planning

CLC Number:

TP391.9

Xiu Supu, Wen Yuanqiao, Xiao Changshi, Yuan Haiwen, Zhan Wenqiang. Design and Simulation on Autonomous Landing of a Quad Tilt Rotor[J]. Journal of System Simulation, 2020, 32(9): 1676-1685.

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