This article presents a model predictive control (MPC) controller and its novel application to a hybrid tilt-quadrotor fixed-wing aircraft, which combines vertical takeoff and landing (VTOL) capabilities with high-speed forward flight. The developed MPC controller takes a velocity command from the pilot and then computes optimal attitude setpoints and propeller-tilt angles that are supplied to a fast inner attitude controller. A control allocation algorithm then maps the output of the inner attitude loop to actuator commands. The proposed MPC and control allocation of this article constitute a unified nonlinear control approach for tilt-rotor VTOL aircraft, valid in all flight modes and transitions in between. The whole approach is verified both in simulations and in real-world outdoor experiments with a remote controlled VTOL aircraft transitioning from hover to high speed and vice versa in a stable and controlled manner. Results show superior performance compared to the common binary-switch transition strategy between multicopter flight mode and the fixed-wing flight mode. The MPC controller also consistently performs better than a previously developed fused-PID control architecture in our tests.


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    Title :

    MPC Flight Control for a Tilt-Rotor VTOL Aircraft


    Contributors:
    Bauersfeld, L. (author) / Spannagl, L. (author) / Ducard, G. (author) / Onder, C. (author)


    Publication date :

    2021-08-01


    Size :

    2110207 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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