Скачать или смотреть MPC of a Quadtilt-rotor UAV for Fast Point-to-Point Motion Across the Full Flight Envelope

This work proposes a Nonlinear Model Predictive Control (NMPC) strategy for fast
motion of a quadtilt-rotor Unmanned Aerial Vehicle (UAV). The proposed approach enables
operation across the full flight envelope of the aircraft, allowing seamless transitions between
helicopter and airplane modes, thus removing the need for trajectory preplanning. Using a
multi-body model in the extended SE(3) manifold, we address the motion control problem of
this convertible UAV. This multi-body dynamic model captures the coupling between the tilting
mechanisms, fuselage, canards, wings, and vertical stabilizers, while incorporating Coriolis,
centripetal, and aerodynamic forces, leading to a highly accurate representation. Numerical
experiments in a virtual environment demonstrate the controller’s effectiveness.