A global controller for flying wing tailsitter vehicles

Ritz, Robin; D’Andrea, Raffaello

doi:10.1109/icra.2017.7989318

Cited by 46 publications

(44 citation statements)

References 18 publications

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“…To simplify the altitude controller design, the aircraft is always in coordinated flight which refers to a flight state with no side-slip [22]. Coordinated flight means the the the aerodynamic lift is only the function of airspeed and angle of attack(AOA) when the environment and aircraft configure parameter are steady.…”

Section: B Altitude Controllermentioning

confidence: 99%

“…There is a feedforward-feedback parallel structure to follow the target vertical velocity v zd . The feedforward controller is a proportional controller, which computes the desired acceleration a zd from the desired velocity v zd by multiplying it by a proportional constant (i.e., (22)). The desired acceleration in z i direction is then used to determine the propeller thrust T through solving the (23) which is the combination of (3), (4), and (5).…”

Section: ) Aerodynamic Force Modelmentioning

confidence: 99%

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Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes

Wei

Qing

et al. 2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

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In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper concentrates on the design of the attitude controller and the altitude controller. For the attitude control, the controller's parameters and filters are optimized based on the frequency response model which is identified from the sweep experiment. As a result, the effect of system flexible modes is easily compensated in frequency-domain by using a notch filter, and the resulting attitude loop shows superior tracking performance and robustness. In the coordinated flight condition, the altitude controller is structured as the feedforward-feedback parallel controller. The feedforward thrust command is calculated based on the current speed and the pitch angle. Tests in hovering, forward accelerating and forward decelerating flights have been conducted to verify the proposed control system. 1 authors are with the Mechatronics and Robotic Systems (MaRS) Laboratory,

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Section: B Altitude Controllermentioning

confidence: 99%

Section: ) Aerodynamic Force Modelmentioning

confidence: 99%

Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes

Wei

Qing

et al. 2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…The most popular version of a tailsitter is the flying wing with two propellers [1,2]. In the hover mode, the rolling moment is generated by differential thrust of motors while pitching and yawing moments are produced by the flaps operating in the propeller downwash.…”

Section: Introductionmentioning

confidence: 99%

“…The resulting optimal solutions for a rich set of initial conditions were stored using lookup table and the controller was validated using extensive experimentation. In [2], they extended their work for trajectory tracking using a cascaded control architecture and provided experimental validation. The aerodynamic forces and moments were captured into a heuristic model, the parameters of which were estimated using online learning scheme.…”

Section: Introductionmentioning

confidence: 99%

Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor

Raj

Banavar

Abhishek

et al. 2020

Journal of Guidance, Control, and Dynamics

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This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in conventional biplane quadrotor tailsitters by proposing a new design wherein two wings with two attached propellers are joined together with a rod through a swivel mechanism. The yaw torque is generated by relative rotation of the thrust vector of each wing. The unique design of this configuration having two rigid bodies interconnected through a rod with zero torsional rigidity makes the vehicle underactuated in the attitude configuration manifold. An output tracking problem is posed which results in a single equivalent rigid body attitude tracking problem with second order moment dynamics. The proposed controller is uniformly valid for all attitudes and is based on dynamic feedback linearization in a geometric control framework. Almost-global asymptotic stability of the desired equilibrium of the tracking error dynamics is shown. The efficacy of the controller is shown with numerical simulation and flight tests.

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“…1. Compared to the tailsitter design [2], [3], TWVs benefit Manuscript received: 02, 24, 2019; Revised -; Accepted 04, 14, 2019. This paper was recommended for publication by Editor Jonathan Roberts upon evaluation of the Associate Editor and Reviewers' comments.…”

Section: Introductionmentioning

confidence: 99%

Attitude and Cruise Control of a VTOL Tiltwing UAV

Rohr

Stastny

Verling

et al. 2019

IEEE Robot. Autom. Lett.

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This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a dynamical model of the UAV is developed which captures key aerodynamic effects including propeller slipstream on the wing and post-stall characteristics of the airfoils. The model-based steady-state flight envelope and the corresponding trim-actuation is analyzed and the overactuation of the UAV solved by optimizing for, e.g., power-optimal trims. The developed control system is composed of two controllers: First, a low-level attitude controller based on dynamic inversion and a daisy-chaining approach to handle allocation of redundant actuators. Secondly, a higher-level cruise controller to track a desired vertical velocity. It is based on a linearization of the system and look-up tables to determine the strong and nonlinear variation of the trims throughout the flight-envelope. We demonstrate the performance of the controlsystem for all flight phases (hover, transition, cruise) in extensive flight-tests.

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A global controller for flying wing tailsitter vehicles

Cited by 46 publications

References 18 publications

Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes

Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes

Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor

Attitude and Cruise Control of a VTOL Tiltwing UAV

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