気流ベクトルセンシングを用いた固定翼VTOLの適応非線形制御
Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing
3次元気流センサの情報から翼とローターの空気力をリアルタイム推定し、線形力モデルのオンライン適応を組み込んだ非線形追従制御器で固定翼VTOLのホバーから前進飛行への遷移性能を向上させた。
著者: Xichen Shi, Patrick Spieler, Ellande Tang, Elena-Sorina Lupu, Phillip Tokumaru, Soon-Jo Chung
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving high performance flight. In this paper, we present a composite adaptive nonlinear tracking controller for a fixed-wing VTOL. The method employs online adaptation of linear force models, and generates accurate estimation for wing and rotor forces in real-time based on information from a three-dimensional airflow sensor. The controller is implemented on a custom-built fixed-wing VTOL, which shows improved velocity tracking and force prediction during the transition stage from hover to forward flight, compared to baseline flight controllers.
