Adaptive model predictive control of a six-rotor electric vertical take-off and landing urban air mobility aircraft subject to motor failure during hovering

Autor: Weihua Su, Tao Zeng, Sean Shan-Min Swei, Mariko Hashimoto, Shen Qu, Guoming G. Zhu
Rok vydání: 2021
Předmět:
Zdroj: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering. 236:1396-1407
ISSN: 2041-3025
0954-4100
DOI: 10.1177/09544100211032434
Popis: In this article, motor failure control of a six-rotor electric vertical take-off and landing (eVTOL) urban air mobility aircraft is investigated using adaptive model predictive control (MPC) based on the linear parameter-varying (LPV) model developed using the nonlinear rigid-body aircraft model. For capturing the aircraft dynamics under motor failure conditions, a family of linearized models are obtained by trimming the nonlinear aircraft model at multiple equilibrium conditions and the LPV model is obtained by linking the linear models using the failed rotor speed, where the system transition from healthy to failure is modeled by a scheduling parameter calculated based on failed rotor speed caused by available motor peak power after failure. The proposed adaptive MPC is developed to optimize the system output performance, including the rigid-body aircraft velocity and altitude, by using quadratic programming optimization with reference compensation subject to a set of time-varying constraints representing the current available propeller acceleration calculated based on the motor power. Simulation study is conducted based on the developed LPV control design and original nonlinear rigid-body model, and the simulation results demonstrate that the designed adaptive MPC controller is able to recover and maintain the aircraft at desired stable condition after motor failure.
Databáze: OpenAIRE
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