Flight code convergence: fixedwing, rotorcraft, hybrid

Title

Flight code convergence: fixedwing, rotorcraft, hybrid

 Author

van Wijngaarden, D.C. (TU Delft Control & Simulation)
Smeur, E.J.J. (TU Delft Control & Simulation) ORCID 0000-0002-0060-6526
Remes, B.D.W. (TU Delft Control & Simulation) ORCID 0000-0001-8361-3125

 Date

2021

 Abstract

Rotorcraft, fixed wing and hybrid Unmanned Air Vehicles (UAV) each have applications in which they excel. Traditionally, dedicated autopilot control code is written to accommodate flight of each UAV type. This causes fragmentation of control code and may lead to performance differences or errors. In this paper, we propose to use the same INDI controller for rotorcraft, fixed wing and hybrid UAVs, with only parametric differences in control effective matrix definitions and roll, pitch and airspeed limits. The controller is based on earlier work, but relevant derivations are included in this paper. Successful test flights, performed with a Bebop2 quadrotor, a Disco fixed wing, and a Nederdrone tailsitter hybrid demonstrate the feasibility of this approach.

 Subject

UAV
Hybrid MAVs
Flight Control
Incremental Nonlinear Dynamic Inversion

 To reference this document use:

http://resolver.tudelft.nl/uuid:35c4b1cb-fa7e-4776-a597-40eba912776f

 Source

12th International Micro Air Vehicle Conference

 Event

12th International Micro Air Vehicle Conference, 2021-11-17 → 2021-11-19, Puebla, Mexico

 Part of collection

Institutional Repository

 Document type

conference paper

 Rights

© 2021 D.C. van Wijngaarden, E.J.J. Smeur, B.D.W. Remes
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