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Nonlinear Control of Autonomous Flying Cars with Wings and Distributed Electric Propulsion

Shi, Xichen and Kim, Kyunam and Rahili, Salar and Chung, Soon-Jo (2018) Nonlinear Control of Autonomous Flying Cars with Wings and Distributed Electric Propulsion. In: 2018 IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 5326-5333. ISBN 978-1-5386-1395-5. https://resolver.caltech.edu/CaltechAUTHORS:20180925-090601879

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Abstract

Hybrid vertical take-off and landing vehicles (VTOL) with lift production from wings and distributed propulsive system present unique control challenges. Existing methods tend to stitch and switch different controllers specially designed for fixed-wing aircraft or multicopters. In this paper, we present a unified framework for designing controllers for such winged VTOL vehicles that are commonly found in recent flying car models. The proposed method is broken down into nonlinear control of both position and attitude with forces and moments as inputs, and real-time control allocation that integrates distributed propulsive actuation with conventional control surface deflection. We also present a strategy that avoids saturation of distributed propulsion control inputs. The effectiveness of the proposed framework is demonstrated through simulation and closed-loop flight experiment with our winged VTOL flying car prototype.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2018.8619578DOIArticle
ORCID:
AuthorORCID
Kim, Kyunam0000-0002-7803-1582
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2018 IEEE. The authors thank M. Gharib, Director of CAST, for his support and technical guidance. The authors also thank R. Nemovi, M. Veismann, E. Yu, C. Dougherty, and J. Burdick at Caltech, and P. Tokumaru at AeroVironment.
Group:GALCIT
Record Number:CaltechAUTHORS:20180925-090601879
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20180925-090601879
Official Citation:X. Shi, K. Kim, S. Rahili and S. Chung, "Nonlinear Control of Autonomous Flying Cars with Wings and Distributed Electric Propulsion," 2018 IEEE Conference on Decision and Control (CDC), FL, USA, 2018, pp. 5326-5333. doi: 10.1109/CDC.2018.8619578
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:89904
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Sep 2018 16:44
Last Modified:03 Oct 2019 20:20

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