Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control

By combining the ability to hover with a wing for fast and efficient horizontal flight, hybrid unmanned aircraft extend the flight envelope and therefore mission capabilities of unmanned aircraft. However, this comes at a cost: increased complexity control-wise and being more susceptible to wind disturbances. This susceptibility to wind gusts is...

Extended Incremental Non-linear Control Allocation on the TU Delft Quadplane

This research presents an implementation of a novel controller design on an overactuated hybrid Unmanned Aerial Vehicle (UAV). This platform is a hybrid between a conventional quadcopter and a fixed-wing aircraft. Its inner loop is controlled by an existing but modified control method called Incremental Non-linear Control Allocation or INCA....

Fault Tolerant Control of Multirotor UAV for Piloted Outdoor Flight

The thesis aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The research is aimed to study the AVCS and identify the parameters that limit the controllability of multirotor UAV post...

Nonlinear Fault Tolerant Flight Control of a Quadrotor Vehicle subjected to Complete Loss of Two Rotors

Conventional controllers are incapable of controlling a rotor failed quadrotor in high speed flight. In this paper, a fault tolerant controller based on Incremental Nonlinear Dynamic Inversion is proposed to control a quadrotor subjected to the loss of two rotors. A pseudoinverse is used to control the roll and pitch rate to steer the average...