2022/07/26 by Ezra Tal, Tal, Ezra, Sertaç Karaman +1 · 1 citation
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Advanced Vision and Imaging #Aerospace and Aviation Technology #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2207.13218
openalex publication_date 2022/07/26 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global control formulation enables maneuvering throughout the flight envelope, including uncoordinated flight with sideslip. Differential flatness of the nonlinear tailsitter dynamics with a simplified aerodynamics model is shown. Using the flatness transform, the proposed controller incorporates tracking of the position reference along with its derivatives velocity, acceleration and jerk, as well as the yaw reference and yaw rate. The inclusion of jerk and yaw rate references through an angular velocity feedforward term improves tracking of trajectories with fast-changing accelerations. The controller does not depend on extensive aerodynamic modeling but instead uses incremental nonlinear dynamic inversion (INDI) to compute control updates based on only a local input-output relation, resulting in robustness against discrepancies in the simplified aerodynamics equations. Exact inversion of the nonlinear input-output relation is achieved through the derived flatness transform. The resulting control algorithm is extensively evaluated in flight tests, where it demonstrates accurate trajectory tracking and challenging agile maneuvers, such as sideways flight and aggressive transitions while turning.