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Model-free control algorithms for micro air vehicles with transitioning flight capabilities

Barth, Jacson and Condomines, Jean-Philippe and Bronz, Murat and Moschetta, Jean-Marc and Join, Cédric and Fliess, Michel Model-free control algorithms for micro air vehicles with transitioning flight capabilities. (2020) International Journal of Micro Air Vehicles, 12. 1-22. ISSN 1756-8293

(Document in English)

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Official URL: http://dx.doi.org/10.1177/1756829320914264


Micro air vehicles with transitioning flight capabilities, or simply hybrid micro air vehicles, combine the beneficial features of fixed-wing configurations, in terms of endurance, with vertical take-off and landing capabilities of rotorcrafts to perform five different flight phases during typical missions, such as vertical takeoff, transitioning flight, forward flight, hovering and vertical landing. This promising micro air vehicle class has a wider flight envelope than conventional micro air vehicles, which implies new challenges for both control community and aerodynamic designers. One of the major challenges of hybrid micro air vehicles is the fast variation of aerodynamic forces and moments during the transition flight phase which is difficult to model accurately. To overcome this problem, we propose a flight control architecture that estimates and counteracts in real-time these fast dynamics with an intelligent feedback controller. The proposed flight controller is designed to stabilize the hybrid micro air vehicle attitude as well as its velocity and position during all flight phases. By using model-free control algorithms, the proposed flight control architecture bypasses the need for a precise hybrid micro air vehicle model that is costly and time consuming to obtain. A comprehensive set of flight simulations covering the entire flight envelope of tailsitter micro air vehicles is presented. Finally, real-world flight tests were conducted to compare the model-free control performance to that of the Incremental Nonlinear Dynamic Inversion controller, which has been applied to a variety of aircraft providing effective flight performances.

Item Type:Article
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Ecole Nationale de l'Aviation Civile - ENAC (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > ALgèbre pour Identification & Estimation Numériques - AL.I.E.N. (FRANCE)
Other partners > Ecole Polytechnique (FRANCE)
Other partners > Université de Lorraine (FRANCE)
Laboratory name:
Deposited On:06 Jan 2021 13:57

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