Aerobatic maneuvering of Autonomous Hybrid UAVs

Aerobatic maneuvering of Autonomous Hybrid UAVs: Trajectory Tracking using INDI in the Control Frame

Engelen, Koen (TU Delft Aerospace Engineering)

Smeur, E.J.J. (mentor)

Delft University of Technology

Aerospace Engineering

2023-06-08

Unmanned Aerial Vehicles (UAVs) are increasingly being used in various applications, which demand longer endurance, extended range, and high maneuverability. These requirements necessitate the development of effective control methods for Hybrid UAVs. In this paper, we propose an outer loop Incremental Nonlinear Dynamic Inversion (INDI) controller for Hybrid UAVs, based on an analytically derived control effectiveness to control the linear acceleration of the UAV. The control effectiveness is derived in a new frame that does not show singularities, technically allowing controlled flight at all attitudes. For trajectory tracking purposes, a Proportional Derivative (PD) controller is added. In simulation the proposed controller shows comparable results to already existing INDI controllers for hover and forward flight. When performing loop the loops it is shown that the proposed control system is able to handle high roll angles, while the already existing INDI controller crashed.

http://resolver.tudelft.nl/uuid:2557c822-2360-4d2c-a6e9-0e05182c5c15

Student theses

master thesis

© 2023 Koen Engelen