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

Content Provider	IEEE Xplore Digital Library
Author	Anderson, P. Stone, H.
Copyright Year	2007
Description	Author affiliation: Univ. of Sydney, Sydney (Anderson, P.; Stone, H.)
Abstract	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.
Starting Page	148
Ending Page	153
File Size	303197
Page Count	6
File Format	PDF
ISBN	1424409012
DOI	10.1109/IDC.2007.374541
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-02-12
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Unmanned aerial vehicles Control systems Predictive models Predictive control Vehicle dynamics Costs Tail Propellers Quadratic programming
Content Type	Text
Resource Type	Article

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