MPC Flight Control for a Tilt-Rotor VTOL Aircraft
Résumé
This article presents a model predictive control (MPC) controller and its novel application to a hybrid tilt-quadrotor fixed-wing aircraft, which combines vertical takeoff and landing (VTOL) capabilities with high-speed forward flight. The developed MPC controller takes a
velocity command from the pilot and then computes optimal attitude setpoints and propeller-tilt angles that are supplied to a fast inner attitude controller. A control allocation algorithm then maps the output of the inner attitude loop to actuator commands. The
proposed MPC and control allocation of this article constitute a unified nonlinear control approach for tilt-rotor VTOL aircraft, valid in all flight modes and transitions in between. The whole approach is verified both in simulations and in real-world outdoor experiments with a remote controlled VTOL aircraft transitioning from hover to high speed and vice versa in a stable and controlled manner. Results show superior performance compared to the common binary-switch transition strategy between multicopter flight mode and the fixed-wing flight mode. The MPC controller also consistently performs better than a previously developed fused-PID control architecture in our tests.
Domaines
Sciences de l'ingénieur [physics]
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Bauersfeld_Spannagl_Ducard_Onder_MPC_VTOL_Aircraft_IEEE_TAES2021_acceptedversion.pdf (1.56 Mo)
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