Differential Sweep Attitude Control for Swept Wing UAVs

Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle

“…Sweeping back the wings minimizes the cross sectional area for impact and hence the acting forces. It introduces novel possibilities of enhancing flight performance and new control strategies through direct wing sweep control as shown in our previous work [6].…”

“…In both cases, the controller is structured as a cascaded PID-controller. The modelling of the aerial dynamics was performed in a similar fashion to the approach shown in [6]. We used a rigid body model of the aircraft and the estimated aerodynamic forces to compute state derivatives that are then numerically integrated to obtain the full state trajectory.…”

“…This measure can be used to increase turn performance. Since the wing folding mechanism permits individual sweep actuation of each wing, the use of asymmetric wing sweep to enhance roll and pitch control has been further studied in [6]. However, this is not used during the flight envelope of this project.…”