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In this research, the problem of controlling a novel hybrid tail-sitter prototype, the VTOL Cooperative Twin-Mother UAV for increasing demands from multi-UAV cooperation mission is addressed. Control logic and mathematical model in VTOL mode are established according to the characteristics of the UAV. An optimal controller is designed under constraint of actuators based on Linear Quadratic Regulator (LQR) according to the linear model with appropriate assumptions and simplifications, where unknown model information and external disturbance are neglected. An Extended State Observer (ESO) is introduced to estimate the total disturbance, considering parameter uncertainty as internal disturbance. The improvement in disturbance rejection performance with the proposed ESO-LQR based control is then verified through numerical simulations using a high-fidelity nonlinear 6 degree of freedom (6-DoF) flight simulation, outperforming standard LQR feedback control.

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Design of ESO-LQR Based Control Law for a VTOL Cooperative Twin-Mother UAV

  • 会议论文

  • 发表日期：

    2025年

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  • Yining Zhao,
  • Song Wang,
  • Tongrui Chen,
  • Zhiyang Ma,
  • Konstantin Lelkov

摘要

In this research, the problem of controlling a novel hybrid tail-sitter prototype, the VTOL Cooperative Twin-Mother UAV for increasing demands from multi-UAV cooperation mission is addressed. Control logic and mathematical model in VTOL mode are established according to the characteristics of the UAV. An optimal controller is designed under constraint of actuators based on Linear Quadratic Regulator (LQR) according to the linear model with appropriate assumptions and simplifications, where unknown model information and external disturbance are neglected. An Extended State Observer (ESO) is introduced to estimate the total disturbance, considering parameter uncertainty as internal disturbance. The improvement in disturbance rejection performance with the proposed ESO-LQR based control is then verified through numerical simulations using a high-fidelity nonlinear 6 degree of freedom (6-DoF) flight simulation, outperforming standard LQR feedback control.