TY - GEN
T1 - Model predictive attitude control of an unmanned Tilt-Rotor aircraft
AU - Papachristos, Christos
AU - Alexis, Kostas
AU - Nikolakopoulos, George
AU - Tzes, Anthony
PY - 2011
Y1 - 2011
N2 - The design of a Model Predictive Controller (MPC) for attitude maneuvers of an Unmanned Vertical Take Off and Landing (VTOL) Tilt-Rotor vehicle, flying in its helicopter mode is the subject of this article. Tilt-Rotor air vehicles combine the flight envelopes of: a)fixed wing aircrafts, and b) rotorcrafts, leading to systems with advanced flight characteristics. However, the highly nonlinear and underactuated dynamics of these systems, necessitate the design of advanced control schemes to achieve a satisfactory control performance. In the proposed control design approach, the Tilt-Rotor's nonlinear dynamics are linearized in various operating points, resulting in a set of multiple piecewise affine models that describe its helicopter's flying mode. The corresponding novel MP-controller is designed for set-point maneuvers taking into account the arbitrary switchings between the linear models as well as the constraints on the actuators, while extended simulation studies indicate the high overall efficiency of the proposed MPC scheme.
AB - The design of a Model Predictive Controller (MPC) for attitude maneuvers of an Unmanned Vertical Take Off and Landing (VTOL) Tilt-Rotor vehicle, flying in its helicopter mode is the subject of this article. Tilt-Rotor air vehicles combine the flight envelopes of: a)fixed wing aircrafts, and b) rotorcrafts, leading to systems with advanced flight characteristics. However, the highly nonlinear and underactuated dynamics of these systems, necessitate the design of advanced control schemes to achieve a satisfactory control performance. In the proposed control design approach, the Tilt-Rotor's nonlinear dynamics are linearized in various operating points, resulting in a set of multiple piecewise affine models that describe its helicopter's flying mode. The corresponding novel MP-controller is designed for set-point maneuvers taking into account the arbitrary switchings between the linear models as well as the constraints on the actuators, while extended simulation studies indicate the high overall efficiency of the proposed MPC scheme.
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U2 - 10.1109/ISIE.2011.5984282
DO - 10.1109/ISIE.2011.5984282
M3 - Conference contribution
AN - SCOPUS:80052847822
SN - 9781424493128
T3 - Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics
SP - 922
EP - 927
BT - Proceedings - ISIE 2011
T2 - 2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
Y2 - 27 June 2011 through 30 June 2011
ER -