Abstract:
This article presents a model predictive control (MPC) controller and its novel application to a hybrid tilt-quadrotor fixed-wing aircraft, which combines vertical takeof...Show MoreMetadata
Abstract:
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.
Published in: IEEE Transactions on Aerospace and Electronic Systems ( Volume: 57, Issue: 4, August 2021)
Institute for Dynamic Systems, and Control, ETH Zürich, Switzerland
Leonard Bauersfeld received the B.S. degree in mechanical engineering from ETH Zürich, Zürich, Switzerland, in 2018. He is currently working toward the master's degree in robotics, systems and control from Robotics and Perception Group, University of Zurich.
Within the context of this article, he was affiliated with the Institute of Dynamic Systems and Control, ETH Zürich. His current research interests include aerodynamic...Show More
Leonard Bauersfeld received the B.S. degree in mechanical engineering from ETH Zürich, Zürich, Switzerland, in 2018. He is currently working toward the master's degree in robotics, systems and control from Robotics and Perception Group, University of Zurich.
Within the context of this article, he was affiliated with the Institute of Dynamic Systems and Control, ETH Zürich. His current research interests include aerodynamic...View more
Institute for Dynamic Systems, and Control, ETH Zürich, Switzerland
Lukas Spannagl received the B.Sc. degree in mechanical engineering, in 2018 from ETH Zürich, Zürich, Switzerland, where he is currently working toward the M.Sc. degree in robotics, systems and control with Institute for Dynamic Systems and Control.
He is currently affiliated with the Institute for Dynamic Systems and Control . His current research interests include optimal guidance and control as well as thrust vectored ve...Show More
Lukas Spannagl received the B.Sc. degree in mechanical engineering, in 2018 from ETH Zürich, Zürich, Switzerland, where he is currently working toward the M.Sc. degree in robotics, systems and control with Institute for Dynamic Systems and Control.
He is currently affiliated with the Institute for Dynamic Systems and Control . His current research interests include optimal guidance and control as well as thrust vectored ve...View more
University Cote d’Azur, Centre national de la recherche scientifique, Sophia Antipolis, France
Guillaume J. J. Ducard received the master's degree in electrical engineering and the Doctoral degree focusing on flight control for unmanned aerial vehicles (UAVs) from ETH Zürich, Zürich, Switzerland, in 2004 and 2007, respectively.
He completed his two-year Postdoctoral course in 2009 from ETH Zürich, focused on flight control for UAVs. He is currently an Associate Professor with the University Côte d’Azur, France, and ...Show More
Guillaume J. J. Ducard received the master's degree in electrical engineering and the Doctoral degree focusing on flight control for unmanned aerial vehicles (UAVs) from ETH Zürich, Zürich, Switzerland, in 2004 and 2007, respectively.
He completed his two-year Postdoctoral course in 2009 from ETH Zürich, focused on flight control for UAVs. He is currently an Associate Professor with the University Côte d’Azur, France, and ...View more
Institute for Dynamic Systems, and Control, ETH Zürich, Switzerland
Christopher H. Onder received the Diploma in mechanical engineering and Doctoral degree in Doctor of technical sciences from ETH Zürich, Zürich, Switzerland.
He is a Professor with the Institute for Dynamic Systems and Control, Department of Mechanical Engineering and Process Control, ETH Zürich. He heads the Engine Systems Laboratory. He has authored and coauthored numerous articles and a book on modeling and control of e...Show More
Christopher H. Onder received the Diploma in mechanical engineering and Doctoral degree in Doctor of technical sciences from ETH Zürich, Zürich, Switzerland.
He is a Professor with the Institute for Dynamic Systems and Control, Department of Mechanical Engineering and Process Control, ETH Zürich. He heads the Engine Systems Laboratory. He has authored and coauthored numerous articles and a book on modeling and control of e...View more
Contents Institute for Dynamic Systems, and Control, ETH Zürich, Switzerland
Leonard Bauersfeld received the B.S. degree in mechanical engineering from ETH Zürich, Zürich, Switzerland, in 2018. He is currently working toward the master's degree in robotics, systems and control from Robotics and Perception Group, University of Zurich.
Within the context of this article, he was affiliated with the Institute of Dynamic Systems and Control, ETH Zürich. His current research interests include aerodynamic modeling and flight control for UAVs.
Leonard Bauersfeld received the B.S. degree in mechanical engineering from ETH Zürich, Zürich, Switzerland, in 2018. He is currently working toward the master's degree in robotics, systems and control from Robotics and Perception Group, University of Zurich.
Within the context of this article, he was affiliated with the Institute of Dynamic Systems and Control, ETH Zürich. His current research interests include aerodynamic modeling and flight control for UAVs.View more
Institute for Dynamic Systems, and Control, ETH Zürich, Switzerland
Lukas Spannagl received the B.Sc. degree in mechanical engineering, in 2018 from ETH Zürich, Zürich, Switzerland, where he is currently working toward the M.Sc. degree in robotics, systems and control with Institute for Dynamic Systems and Control.
He is currently affiliated with the Institute for Dynamic Systems and Control . His current research interests include optimal guidance and control as well as thrust vectored vehicles.
Lukas Spannagl received the B.Sc. degree in mechanical engineering, in 2018 from ETH Zürich, Zürich, Switzerland, where he is currently working toward the M.Sc. degree in robotics, systems and control with Institute for Dynamic Systems and Control.
He is currently affiliated with the Institute for Dynamic Systems and Control . His current research interests include optimal guidance and control as well as thrust vectored vehicles.View more
University Cote d’Azur, Centre national de la recherche scientifique, Sophia Antipolis, France
Guillaume J. J. Ducard received the master's degree in electrical engineering and the Doctoral degree focusing on flight control for unmanned aerial vehicles (UAVs) from ETH Zürich, Zürich, Switzerland, in 2004 and 2007, respectively.
He completed his two-year Postdoctoral course in 2009 from ETH Zürich, focused on flight control for UAVs. He is currently an Associate Professor with the University Côte d’Azur, France, and guest scientist with ETH Zürich. His research interests include nonlinear control, estimation, and guidance applied to UAVs.
Guillaume J. J. Ducard received the master's degree in electrical engineering and the Doctoral degree focusing on flight control for unmanned aerial vehicles (UAVs) from ETH Zürich, Zürich, Switzerland, in 2004 and 2007, respectively.
He completed his two-year Postdoctoral course in 2009 from ETH Zürich, focused on flight control for UAVs. He is currently an Associate Professor with the University Côte d’Azur, France, and guest scientist with ETH Zürich. His research interests include nonlinear control, estimation, and guidance applied to UAVs.View more
Institute for Dynamic Systems, and Control, ETH Zürich, Switzerland
Christopher H. Onder received the Diploma in mechanical engineering and Doctoral degree in Doctor of technical sciences from ETH Zürich, Zürich, Switzerland.
He is a Professor with the Institute for Dynamic Systems and Control, Department of Mechanical Engineering and Process Control, ETH Zürich. He heads the Engine Systems Laboratory. He has authored and coauthored numerous articles and a book on modeling and control of engine systems. His research interests include engine systems modeling, control and optimization with an emphasis on experimental validation, and industrial cooperation.
Dr. Onder was the recipient of the BMW scientific award, the ETH medal, the Vincent Bendix award, the Crompton Lanchester Medal, and the Arch T. Colwell award. Additionally, he received several times the Watt d’Or, the energy efficiency price of the department of energy of Switzerland, for his projects.
Christopher H. Onder received the Diploma in mechanical engineering and Doctoral degree in Doctor of technical sciences from ETH Zürich, Zürich, Switzerland.
He is a Professor with the Institute for Dynamic Systems and Control, Department of Mechanical Engineering and Process Control, ETH Zürich. He heads the Engine Systems Laboratory. He has authored and coauthored numerous articles and a book on modeling and control of engine systems. His research interests include engine systems modeling, control and optimization with an emphasis on experimental validation, and industrial cooperation.
Dr. Onder was the recipient of the BMW scientific award, the ETH medal, the Vincent Bendix award, the Crompton Lanchester Medal, and the Arch T. Colwell award. Additionally, he received several times the Watt d’Or, the energy efficiency price of the department of energy of Switzerland, for his projects.View more
