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

Shi, Xichen and Spieler, Patrick and Tang, Ellande and Lupu, Elena-Sorina and Tokumaru, Phillip and Chung, Soon-Jo (2020) Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5321-5327. ISBN 978-1-7281-7395-5. https://resolver.caltech.edu/CaltechAUTHORS:20200526-151816924

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Abstract

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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA40945.2020.9197344DOIArticle
https://arxiv.org/abs/2003.07558arXivDiscussion Paper
ORCID:
AuthorORCID
Lupu, Elena-Sorina0000-0002-3968-2630
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2020 IEEE. The authors thank M. Gharib for his technical guidance. This work is in part funded by AeroVironment, Inc.
Group:GALCIT
Funders:
Funding AgencyGrant Number
AeroVironmentUNSPECIFIED
Record Number:CaltechAUTHORS:20200526-151816924
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200526-151816924
Official Citation:X. Shi, P. Spieler, E. Tang, E. -S. Lupu, P. Tokumaru and S. -J. Chung, "Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 5321-5327, doi: 10.1109/ICRA40945.2020.9197344
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:103475
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:26 May 2020 22:23
Last Modified:22 Sep 2020 16:39

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