A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning
CoRR(2024)
摘要
Capabilities of long-range flight and vertical take-off and landing (VTOL)
are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage
of balancing control simplicity and system complexity due to their redundant
control authority. Prior work on controlling these aircraft either requires
separate controllers and switching modes for different vehicle configurations
or performs the control allocation on separate actuator sets, which cannot
fully use the potential of the redundancy of tiltrotor. This paper introduces a
unified MPC-based control strategy for a customized tiltrotor VTOL Unmanned
Aerial Vehicle (UAV), which does not require mode-switching and can perform the
control allocation in a consistent way. The incorporation of four independently
controllable rotors in VTOL design offers an extra level of redundancy,
allowing the VTOL to accommodate actuator failures. The result shows that our
approach outperforms PID controllers while maintaining unified control. It
allows the VTOL to perform smooth acceleration/deceleration, and precise
coordinated turns. In addition, the independently controlled tilts enable the
vehicle to handle actuator failures, ensuring that the aircraft remains
operational even in the event of a servo or motor malfunction.
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