Wind Field Disturbance Analysis and Flight Control System Design for a Novel Tilt-Rotor UAV

Abstract

The wind field has a great influence on the control stability of Tilt-rotor unmanned aerial vehicle (UAV), especially during the take-off and landing phase. The airspeed of UAV is so small during these phases that it cannot generate stable aerodynamic forces, which will significantly reduce the wind robustness of Tilt-rotor UAV. In this article, the disturbance of wind field is analyzed from two perspectives: the wind field acting on the UAV fuselage, which is regarded as external interference, and the wind acting on the propeller, which is considered as modeling error. After analyzing the interference mechanism of wind field, a generalized extended state observer (GESO) and a $H\infty $ robust control method with mixed sensitivity are proposed, which could empower the Tilt-rotor UAV with good interference suppression ability as well as better performance tracking ability. Finally, the laboratory simulation and flight experiment are studied. The results validate the theory and prove that the proposed method could resist the interference of wind field and shows excellent control effect.