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Position control of a tail-sitter UAV using successive linearization based model predictive control |
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| Affiliation: | 1. Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC 3800, Australia;2. Department of Automation, Nankai University, Tianjin 300071, China;1. Aerospace Engineering, Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates;2. Aerospace Engineering, San Diego State University, San Diego, CA 92182, USA;3. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, PR China;4. Robotics Institute, Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates;1. Institute for Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior Técnico, Lisbon, Portugal;2. Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China |
| Abstract: | A successive linearization based model predictive control (SLMPC) method is proposed to control a vertical take-off and landing (VTOL) tail-sitter unmanned aerial vehicle (UAV) in hovering flight. The dynamic model of the vehicle is derived, including a low-fidelity aerodynamic model and a propulsion system model. The position controller is developed by a state–space prediction model augmented with estimated disturbance and feedback integration terms. The time-varying weight in the objective function is included and the velocity of vehicle is considered as reference to improve the performance. The system is first tested in a software-in-loop environment followed by the real-time indoor flight tests. The results demonstrate the vehicle can precisely follow a trajectory and stably hold position under unsteady wind disturbance |
| Keywords: | Tail-sitter VTOL UAV MPC Aerodynamic Disturbance |
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