Design of Transition Mode Attitude Controller for a Tilt-rotor UAV Based on MPC Method

Xi, Yexun; Huang, Haiyang; Tian, Zengshan; He, Guang

doi:10.23919/ccc52363.2021.9549971

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…A growing number of research appear to investigate the control of hybrid VTOL UAVs ranging from different vehicle designs [9,10], different flight phases [11,12], to different control methods [13,14]. A prevalent approach for controlling VTOL UAVs involves utilizing three distinct controllers for each flight phase, including the multirotor phase, transition phase, and fixed-wing phase.…”

Section: Introductionmentioning

confidence: 99%

“…However, this work only utilizes the MPC for the velocity controller and still treats the aerodynamic actuators, tilt angles, and propellers separately in control allocation. An MPC-based attitude controller for a tilt-rotor VTOL UAV is designed in [11] for the transition mode to predict the rotor/wing disturbance and complete the control by compensation. However, it focuses on a linearized model and still treats different flight phases separately which requires mode switching.…”

Section: Introductionmentioning

confidence: 99%

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A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning

Chen,

Hu,

Geng

et al. 2024

AIAA SCITECH 2024 Forum

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Capabilitiesof long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control authority. Prior work on controlling these aircraft either requires separate controllers and switching modes for different vehicle configurations or performs the control allocation on separate actuator sets, which cannot fully use the potential of the redundancy of tiltrotor. This paper introduces a unified MPC-based control strategy for a customized tiltrotor VTOL Unmanned Aerial Vehicle (UAV), which does not require mode-switching and can perform the control allocation in a consistent way. The incorporation of four independently controllable rotors in VTOL design offers an extra level of redundancy, allowing the VTOL to accommodate actuator failures. The result shows that our approach outperforms PID controllers while maintaining unified control. It allows the VTOL to perform smooth acceleration/deceleration, and precise coordinated turns. In addition, the independently controlled tilts enable the vehicle to handle actuator failures, ensuring that the aircraft remains operational even in the event of a servo or motor malfunction.

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