Flight control of hybrid drones towards enabling parcel relay manoeuvres

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This work addresses the modeling and controlling process of a hybrid unmanned aerial vehicle (UAV), aimed for parcel delivery with relay maneuvers. Hybrid UAVs bring significant advantages to the drone industry and related applications, such as the capability of flying in two flight modes, rotary and fixed-wing. Nonetheless, this versatility implies the added complexity both in modeling and controlling these vehicles. This work is based on a popular airframe, the Convergence tilt tri-rotor UAV, for which the overall system dynamics for all operation modes are deduced with plausible assumptions. The model is then validated by designing two separate controllers for the main flight modes, rotary and fixed-wing, capable of trajectory tracking in each mode. The control strategy makes use of a custom hybrid control allocation technique that differentiates the control in three parts: vertical, horizontal, and transitional flight modes. Finally, a hybrid controller is proposed, using a finite state machine capable of handling logical events, with the aim to provide control logic to perform autonomous mid flight transitions. The proposed control strategies are validated using Matlab.

Original languageEnglish
Title of host publicationProceedings - 2021 International Young Engineers Forum in Electrical and Computer Engineering, YEF-ECE 2021
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages13-19
Number of pages7
ISBN (Electronic)978-1-6654-1264-3
ISBN (Print)978-1-6654-2937-5
DOIs
Publication statusPublished - 2021
Event5th International Young Engineers Forum in Electrical and Computer Engineering, YEF-ECE 2021 - Caparica and Online, Portugal
Duration: 9 Jul 20219 Jul 2021

Conference

Conference5th International Young Engineers Forum in Electrical and Computer Engineering, YEF-ECE 2021
Country/TerritoryPortugal
CityCaparica and Online
Period9/07/219/07/21

Keywords

  • Control Allocation
  • Hybrid Control
  • Hybrid UAV
  • Transitional flight
  • UAV modeling

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