Modeling and Design of an Aircraft-Mode Controller for a Fixed-Wing VTOL UAV

Zhao, Depeng; Wu, Liaoni; You, Yancheng

doi:10.1155/2021/7902134

Cited by 8 publications

(9 citation statements)

References 14 publications

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“…At higher angles of attack, the yawing moment coefficient of the threegap wing remained the same sign as roll, while the sign of the five-and nine-gap wing switched again before ultimately returning to the same sign as the rolling moment coefficient. The roll-yaw coupling, and the fact that it changed sign multiple times, may require a more complex controller [47]. The coupling trend was also distinct from that of the ailerons: tip effects caused the aileron yawing moment coefficient to become steadily more negative as angle of attack increased, and the rolling moment coefficient stayed positive [40].…”

Section: Comparison Of Aileron and Gapped Wings For Roll Controlmentioning

confidence: 99%

Avian whiffling-inspired gaps provide an alternative method for roll control

Sigrest

Inman

2022

Bioinspir. Biomim.

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Some bird species exhibit a flight behavior known as whiffling, in which the bird flies upside-down during landing, predator evasion, or courtship displays. Flying inverted causes the flight feathers to twist, creating gaps in the wing’s trailing edge. It has been suggested that these gaps decrease lift at a potentially lower energy cost, enabling the bird to maneuver and rapidly descend. Thus, avian whiffling has parallels to an uncrewed aerial vehicle (UAV) using spoilers for rapid descent and ailerons for roll control. However, while whiffling has been previously described in the biological literature, it has yet to directly inspire aerodynamic design. In the current research, we investigated if gaps in a wing’s trailing edge, similar to those caused by feather rotation during whiffling, could provide an effective mechanism for UAV control, particularly rapid descent and banking. To address this question, we performed a wind tunnel test of 3D printed wings with a varying amount of trailing edge gaps and compared the lift and rolling moment coefficients generated by the gapped wings to a traditional spoiler and aileron. Next, we used an analytical analysis to estimate the force and work required to actuate gaps, spoiler, and aileron. Our results showed that gapped wings did not reduce lift as much as a spoiler and required more work. However, we found that at high angles of attack, the gapped wings produced rolling moment coefficients equivalent to upwards aileron deflections of up to 32.7° while requiring substantially less actuation force and work. Thus, while the gapped wings did not provide a noticeable benefit over spoilers for rapid descent, a whiffling-inspired control surface could provide an effective alternative to ailerons for roll control. These findings suggest a novel control mechanism that may be advantageous for small fixed-wing UAVs, particularly energy-constrained aircraft.

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Section: Comparison Of Aileron and Gapped Wings For Roll Controlmentioning

confidence: 99%

Avian whiffling-inspired gaps provide an alternative method for roll control

Sigrest

Inman

2022

Bioinspir. Biomim.

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“…The proposed MPC controller is compared to the PD-based ESO controller [35] in figure 15. The simulation is carried out with the same parameters as the previous authors' PD-based ESO, as stated in the literature.…”

Section: Linear Responsesmentioning

confidence: 99%

“…The author of [23,27,35] employed an Adaptive Sliding Mode Controller to achieve robust tracking control of a Quadrotor UAV. They started by proposing nonlinear and coupled equations, with the Newton-Euler equations serving as the foundation for modeling.…”

Section: Introductionmentioning

confidence: 99%

Aerodynamic modeling and performance analysis of model predictive controller for fixed wing vertical takeoff and landing unmanned aerial vehicle

Getachew,

Zeleke

2024

Eng. Res. Express

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TThis research focuses mainly on the aerodynamic modelling and performance analysis of a model predictive controller for a hybrid fixed-wing vertical takeoff and landing of unmanned aerial vehicle. The aerodynamics, which comprises several aerodynamic characteristics including the lift, drag, and thrust coefficients, is modelled using Newton's second law of motion. The force and moment equations were obtained, and they were then converted into matrix and state equation form, together with the transformation matrices. The essential equations with six degrees of freedom (6 DoF) and 12 state matrices including the control input and manipulating variables were obtained. The proposed model predictive controller (MPC) was designed using the optimal model predictive controller design parameters, such as a sampling time of 0.1, a prediction horizon of 15, a control horizon of 3 and additional controller settings. With a settling period of 3 seconds, an overshoot of 0.5865, and a steady state inaccuracy of 0.00785, the MATLAB simulation demonstrates that the system variables, including roll, pitch, and yaw, are stabilized. This MPC control is more effective in anticipating and optimizing the UAV than other control strategies. Eventually, the controller's simulation on MATLAB Simulink demonstrates the controller's ability to stabilize and control the system in a real-time application. Autonomous vertical takeoff and landing operations depend heavily on the mathematical model and architecture of the flight controller. Among the uses are inspection, monitoring, and rescue.

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“…In [ 13 ], an extended state observer (ESO) was used to estimate an augmented state vector with state and fault components, using an ESO-LQR loop to control a tilt-rotor quadplane in hover. In [ 14 ], linear control was combined with an ESO for quadplane path following and to compensate disturbances that did not follow a formal wind model.…”

Section: Introductionmentioning

confidence: 99%

“…In [ 28 ], integral sliding mode control was used to ensure fault tolerant control in an overactuated UAV, with a hardware-in-the-loop (HIL) validation. Other approaches use observer-based controllers as previously described in [ 5 , 6 , 11 , 14 ]. In [ 29 ], an adaptive multiple model approach was also shown to achieve efficient control of a quadplane using different models for the plane, quad and transition modes, with real-time updates of the trim conditions during transitioning.…”

Section: Introductionmentioning

confidence: 99%

Observer-Based Optimal Control of a Quadplane with Active Wind Disturbance and Actuator Fault Rejection

Zyadat

Horri

Innocente

et al. 2023

Sensors

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Hybrid aircraft configurations with combined cruise and vertical flight capabilities are increasingly being considered for unmanned aircraft and urban air mobility missions. To ensure the safety and autonomy of such missions, control challenges including fault tolerance and windy conditions must be addressed. This paper presents an observer-based optimal control approach for the active combined fault and wind disturbance rejection, with application to a quadplane unmanned aerial vehicle. The quadplane model is linearised for the longitudinal plane, vertical takeoff and landing and transition modes. Wind gusts are modelled using a Dryden turbulence model. An unknown input observer is first developed for the estimation of wind disturbance by defining an auxiliary variable that emulates body referenced accelerations. The approach is then extended to simultaneous rejection of intermittent elevator faults and wind disturbance velocities. Estimation error is mathematically proven to converge to zero, assuming a piecewise constant disturbance. A numerical simulation analysis demonstrates that for a typical quadplane flight profile at 100 m altitude, the observer-based wind gust and fault correction significantly enhances trajectory tracking accuracy compared to a linear quadratic regulator and to a H-infinity controller, which are both taken, without loss of generality, as benchmark controllers to be enhanced. This is done by adding wind and fault compensation terms to the controller with admissible control effort. The proposed observer is also shown to enhance accuracy and observer-based rejection of disturbances and faults compared to three alternative observers, based on output error integration, acceleration feedback and a sliding mode observer, respectively. The proposed approach is particularly efficient for the active rejection of actuator faults under windy conditions.

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Modeling and Design of an Aircraft-Mode Controller for a Fixed-Wing VTOL UAV

Cited by 8 publications

References 14 publications

Avian whiffling-inspired gaps provide an alternative method for roll control

Avian whiffling-inspired gaps provide an alternative method for roll control

Aerodynamic modeling and performance analysis of model predictive controller for fixed wing vertical takeoff and landing unmanned aerial vehicle

Observer-Based Optimal Control of a Quadplane with Active Wind Disturbance and Actuator Fault Rejection

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