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 | |||||||||
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| Additional Information: | © 2020 IEEE. The authors thank M. Gharib for his technical guidance. This work is in part funded by AeroVironment, Inc. | |||||||||
| Group: | GALCIT | |||||||||
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| DOI: | 10.1109/ICRA40945.2020.9197344 | |||||||||
| 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: | 16 Nov 2021 18:21 |
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