Name
Abstract | ||
|---|---|---|
We present a global controller for tracking nominal trajectories with a flying wing tailsitter vehicle. The control strategy is based on a first-principles model of the vehicle dynamics that captures all relevant aerodynamic effects, and we apply an onboard parameter learning scheme in order to estimate unknown aerodynamic parameters. A cascaded control architecture is used: Based on position and velocity errors an outer control loop computes a desired attitude keeping the vehicle in coordinated flight, while an inner control loop tracks the desired attitude using a lookup table with precomputed optimal attitude trajectories. The proposed algorithms can be implemented on a typical microcontroller and the performance is demonstrated in various experiments. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/icra.2017.7989318 | ICRA |
Field | DocType | Volume |
Coordinated flight,Lookup table,Control theory,Torque,Control theory,Attitude control,Control engineering,Vehicle dynamics,Engineering,Control system,Aerodynamics | Conference | 2017 |
Issue | Citations | PageRank |
1 | 1 | 0.37 |
References | Authors | |
5 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Robin Ritz | 1 | 55 | 4.10 |
| Raffaello D'andrea | 2 | 1592 | 162.96 |