Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing

Autor:	Shi, Xichen, Spieler, Patrick, Tang, Ellande, Lupu, Elena-Sorina, Tokumaru, Phillip, Chung, Soon-Jo
Rok vydání:	2020
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Zdroj:	IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 5321-5327
Druh dokumentu:	Working Paper
DOI:	10.1109/ICRA40945.2020.9197344
Popis:	Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving high performance flight. In this paper, we present a composite adaptive nonlinear tracking controller for a fixed-wing VTOL. The method employs online adaptation of linear force models, and generates accurate estimation for wing and rotor forces in real-time based on information from a three-dimensional airflow sensor. The controller is implemented on a custom-built fixed-wing VTOL, which shows improved velocity tracking and force prediction during the transition stage from hover to forward flight, compared to baseline flight controllers. Comment: 7 pages, 7 figures, International Conference on Robotics and Automation (ICRA) 2020
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2003.07558 Zobrazit plný text záznamu View this record from Arxiv