A new robust adaptive mixing control (RAMC) is proposed in order to accomplish trajectory tracking of a tilt-rotor unmanned aerial vehicle (UAV) configuration. This kind of system is a hybrid aerial vehicle that combines advantages of rotary-wing aircraft, like hovering flight and vertical take-off and landing (VTOL), and those of fixed-wing aircraft, as improved forward flight. Although the VTOL and cruise flight regimes present different dynamic behaviors, in this work a unified, highly coupled, nonlinear model is developed to cope with the considered tilt-rotor UAV full flight envelope, that is, the axial flight, hovering, transition/cruise and turning flight. The modeling is performed via Euler–Lagrange formulation considering the tilt-rotor UAV as a multi-body system and taking into account aerodynamic effects and the dynamics of the tilting servomotors. Accordingly, in order to comply with the trajectory tracking requirements and improve the tilt-rotor UAV forward flight, this paper presents a novel robust adaptive mixing controller which is formulated to deal with linear parameter-varying (LPV) systems dependent on not known a priori large parameters but measured or estimated online, and also to provide robustness against unknown disturbances. Additionally, a rigorous closed-loop stability analysis is performed. The controller performance is validated with numerical experiments conducted using a high fidelity simulator developed on Gazebo and Robot Operating System (ROS) platforms.

提出了一种新的鲁棒自适应混合控制（RAMC），以实现对倾斜转子无人飞行器（UAV）配置的轨迹跟踪。这种系统是一种混合动力飞行器，结合了旋翼飞机的优势，如盘旋飞行和垂直起降（VTOL），以及固定翼飞机的优势，可以改善前向飞行。尽管垂直起降和巡航飞行状态表现出不同的动力学行为，但在这项工作中，开发了一个统一的，高度耦合的非线性模型来应对考虑的倾斜旋翼无人机全飞行包线，即轴向飞行，悬停，过渡/巡航并转弯飞行。建模是通过Euler–Lagrange公式进行的，将倾斜转子无人机作为多体系统，并考虑了气动效应和倾斜伺服电机的动力学特性。因此，为了满足轨迹跟踪的要求并改善倾斜旋翼无人机的前向飞行，本文提出了一种新颖的鲁棒自适应混合控制器，该控制器被设计为处理未知的线性参数变化（LPV）系统。先验的大参数，但可以在线测量或估算，并且还可以提供针对未知干扰的鲁棒性。此外，进行了严格的闭环稳定性分析。使用在凉亭和机器人操作系统（ROS）平台上开发的高保真模拟器进行的数值实验验证了控制器的性能。