Sedlmair, Nicolas (Hamburg University of Technology), Theis, Julian (Hamburg University of Technology), Thielecke, Frank (Hamburg University of Technology)

Design and Experimental Validation of UAV Control Laws - 3D Spline-Path-Following and Easy-Handling Remote Control

Scheduled for presentation during the Regular Session "Guidance" (FrM23), Friday, April 5, 2019, 11:00−11:30, BL281.2

5th CEAS Conference on Guidance, Navigation and Control, April 3-5, 2019, Milano, Italy

This information is tentative and subject to change. Compiled on April 17, 2024

Abstract

A complete flight control architecture with two different operating modes is developed for a 24.6kg UAV. The first control mode provides easy-handling of the UAV for a remote pilot from the ground. All relevant control loops are designed using loopshaping techniques and gain-scheduling over airspeed. Comprehensive details of the model-based design procedure are given. The second mode provides 3D path-following capabilities using cubic spline segments between specified waypoints. A way of calculating a virtual target point on the splines is introduced with a focus on practically relevant issues such as switching between different spline segments. A nonlinear guidance law from the literature is implemented. Experimental validation of both control modes is performed in several flight tests, showing high-performance in real-world conditions.