Model Predictive Control of a Convertible Tiltrotor Unmanned Aerial Vehicle
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Date
2020
Publication Type
Conference Paper
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yes
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Abstract
This paper presents a Model Predictive Control (MPC) based control structure for a convertible Unmanned Aerial Vehicle (UAV) with fixed wings and tiltrotor thrust vectoring. The controller encompasses full flight envelope trajectory tracking, thereby optimally exploiting the aircraft's Vertical Take Off and Landing (VTOL) and cruising-forward flight capabilities. An adaptive control allocation is designed to handle the changing control authorities of the actuators and efficiently distribute the required control actions between propellers, tilt servos and control surfaces. Preliminary simulation results show the feasibility of the proposed control approach. © 2020 IEEE.
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published
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Book title
2020 28th Mediterranean Conference on Control and Automation (MED)
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Pages / Article No.
715 - 720
Publisher
IEEE
Event
28th Mediterranean Conference on Control and Automation (MED'2020) (virtual)
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Software
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Notes
Due to the Coronavirus (COVID-19) the conference was conducted virtually.