Abstract
Tiltrotor unmanned aerial vehicles (UAVs) face significant lateral control challenges during hovering due to their hybrid aerodynamic configuration, making them particularly susceptible to wind disturbances. This paper proposes a fuzzy adaptive control method integrating an extended state observer (ESO) with a multi-segment nonlinear state error feedback (NLSEF) function. The proposed approach introduces two key innovations: (1) a fuzzy logic-based ESO bandwidth adaptation mechanism that enhances disturbance estimation accuracy across varying wind conditions and (2) a multi-segment NLSEF controller that replaces the conventional two-segment design, refining the system’s response to different disturbances. Flight experiments conducted under no-wind, headwind, and crosswind conditions demonstrate that the proposed method reduces position error by 9.6%–61.5% compared to traditional approaches.
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