By Topic

Predictive Guidance and Control for a Tail-Sitting Unmanned Aerial Vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Anderson, P. ; Univ. of Sydney, Sydney ; Stone, H.

This paper is concerned with the research and development of a predictive control and guidance system for a tail sitting, unmanned aerial vehicle (UAV). The vehicle in question is the T-wing and it is a tail-sitting UAV. The T-Wing can fly in vertical and horizontal flight modes, using propeller wash over the control surfaces for control in vertical flight. These two flight conditions and the fundamentally different vehicle dynamics between them give rise to a challenging control problem. The predictive control and guidance strategy developed in this research synthesises non-linearity by creating a new linear model from a non-linear vehicle model at every time step. This methodology allows the use of efficient quadratic programming techniques to find the control solution. The continuous linearization ensures that the current linear problem is always a close approximation to the current nonlinear situation. This predictive controller has been successfully flight-tested in the vertical flight mode, running in real-time on a 400 MHz, PC-104 flight computer using xPC Target software.

Published in:

Information, Decision and Control, 2007. IDC '07

Date of Conference:

12-14 Feb. 2007