Model predictive attitude control of an unmanned Tilt-Rotor aircraft

Christos Papachristos, Kostas Alexis, George Nikolakopoulos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - ISIE 2011
Subtitle of host publication2011 IEEE International Symposium on Industrial Electronics
Pages922-927
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE International Symposium on Industrial Electronics, ISIE 2011 - Gdansk, Poland
Duration: Jun 27 2011Jun 30 2011

Publication series

NameProceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics

Other

Other2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
CountryPoland
CityGdansk
Period6/27/116/30/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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  • Cite this

    Papachristos, C., Alexis, K., Nikolakopoulos, G., & Tzes, A. (2011). Model predictive attitude control of an unmanned Tilt-Rotor aircraft. In Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics (pp. 922-927). [5984282] (Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2011.5984282