Incremental Nonlinear Dynamic Inversion controller for a Variable Skew Quad Plane

This paper presents the design of an Incremental Nonlinear Dynamic Inversion (INDI) controller for the novel, patent pending (NL 2031701) platform Variable Skew Quad Plane (VSQP). Part of the identified challenges is the development of a model for the actuator effectiveness and lift especially as a function of skew, the newly added degree of freedom. The models and assumptions are verified through static and dynamic wind tunnel tests at the Open Jet Facility (OJF) of TU Delft. Transition tests have been successfully performed thanks to an automatic skew controller derived from the proposed models and aimed to maximize control authority.