{"title":"Attitude control of tiltwing aircraft using a wing-fixed coordinate system and incremental nonlinear dynamic inversion","authors":"F. Binz, T. Islam, D. Moormann","doi":"10.1177/1756829319861370","DOIUrl":null,"url":null,"abstract":"In this paper, we present a novel concept for robustly controlling the attitude of tiltwing aircraft. Our main contribution is the introduction of a wing-fixed coordinate system for angular acceleration control, which forms the basis of a simple and robust attitude controller. Using the wing-fixed coordinate system allows us to describe the actuator effectivity using simple approximations based on the current operating conditions of the aircraft. Coupled with a robust angular rate control concept, which does not rely on an accurate aerodynamic model, we present a controller stabilizing the entire flight envelope of a tiltwing aircraft. The underlying angular acceleration controller uses the concept of Incremental Nonlinear Dynamic Inversion (INDI) to achieve robustness against aerodynamic uncertainties. The resulting controller is evaluated in both simulation studies and flight tests.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.5000,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829319861370","citationCount":"10","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Micro Air Vehicles","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1177/1756829319861370","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
引用次数: 10
Abstract
In this paper, we present a novel concept for robustly controlling the attitude of tiltwing aircraft. Our main contribution is the introduction of a wing-fixed coordinate system for angular acceleration control, which forms the basis of a simple and robust attitude controller. Using the wing-fixed coordinate system allows us to describe the actuator effectivity using simple approximations based on the current operating conditions of the aircraft. Coupled with a robust angular rate control concept, which does not rely on an accurate aerodynamic model, we present a controller stabilizing the entire flight envelope of a tiltwing aircraft. The underlying angular acceleration controller uses the concept of Incremental Nonlinear Dynamic Inversion (INDI) to achieve robustness against aerodynamic uncertainties. The resulting controller is evaluated in both simulation studies and flight tests.
期刊介绍:
The role of the International Journal of Micro Air Vehicles is to provide the scientific and engineering community with a peer-reviewed open access journal dedicated to publishing high-quality technical articles summarizing both fundamental and applied research in the area of micro air vehicles.