摘要
Dear Editor,This letter is concerned with the attitude control for a novel tiltrotor unmanned aerial vehicle with two pairs of tiltable coaxial rotors and one rear rotor.An immersion and invariance-based adaptive attitude controller for the tilt-rotor unmanned aerial vehicle is proposed.In the proposed control strategy,an adaptive update law is specially designed to compensate for the uncertainties of damping coefficients.The stability of the resulting closed-loop coaxial tiltrotor unmanned aerial vehicle(CTRUAV)system is proved by the Lyapunov methodology and LaSalle’s invariance theory.Finally。
