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Title: Model predictive control for path tracking of a VTOL tail-sitter UAV in an HIL simulation environment
Authors: Li, B 
Zhou, W 
Sun, J 
Wen CY 
Chen, CK
Issue Date: 2018
Publisher: American Institute of Aeronautics and Astronautics Inc, AIAA
Source: AIAA Modeling and Simulation Technologies Conference, Kissimmee, United States, 8-12 Jan 2018 How to cite?
Abstract: This paper investigates the application of Model Predictive Control (MPC) for path tracking of a vertical takeoff and landing (VTOL) tail-sitter unmanned aerial vehicle (UAV) in hovering. In this work, the nonlinear dynamic model of a quad-rotor tail-sitter UAV including the aerodynamic effect of the wing, propellers, and slipstream was developed. The cascaded MPC controllers were then built upon linearized dynamic models. Path tracking simulations were conducted in a hardware-in-loop (HIL) environment where the UAV model and controllers were running on a PC and a flight computer independently. The simulation results show that the proposed MPC controllers are capable to perform good path tracking and the ability of disturbance rejection under limited on-board computation resource.
ISBN: 9781624105289
DOI: 10.2514/6.2018-1919
Appears in Collections:Conference Paper

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