Autonomous Path-Following for a Tilt-Wing, Distributed Electric Propulsion, Vertical Take-Off and Landing Unmanned Aerial System in Hover Mode

Cooper, John R ; Ackerman, Kasey A ; Rothhaar, Paul M

关键词: AUTONOMY;    AUTOMATIC CONTROL;    CONTROLLERS;    ATTITUDE (INCLINATION);    TRAJECTORIES;    ELECTRIC PROPULSION;    FLIGHT TESTS;    HOVERING;    PILOTLESS AIRCRAFT;    VERTICAL LANDING;    WINGS;    TEST STANDS;    SCALE MODELS;    INERTIAL NAVIGATION;   

RP-ID  :  NASA/TM-2018-220109,L-20947,NF1676L-30651

学科分类：航空航天科学

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

This paper presents an autonomous path-following control architecture for a tilt-wing, distributed electric propulsion, vertical take-off and landing unmanned aerial system in hover mode and presents indoor flight test results. The test-bed vehicle is a subscale model with the same configuration as the NASA GL-10 aircraft. The control architecture consists of an inner-loop attitude controller, outer-loop trajec­tory controller, and a trajectory generation scheme. The flight test results show that the vehicle can satisfactorily follow a path prescribed by a list of waypoints around the indoor flight room.