Development of a Ground Test Concept Based on Multi-Rotors for In-Flight RVD Experimentation
Final rept. 30 Sep 2014-31 Aug 2015
POLITECNICO DI TORINO (ITALY)
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The objective of this research is a feasibility study of an L1-based GNC for rendez-vous and docking maneuvers of two systems, including theoretical background and a comprehensive analysis of simulation results. The performance of the proposed GNC design will be evaluated in a simulation environment reproducing the dynamics of a multi-rotor micro-aerial vehicle. The nonlinear and linear models of an hexarotor Unmanned Aerial Vehicle UAV are identified using a VICON system. Some simulations are performed to validate the implementation of the nonlinear model in the Matlab-Simulink environment. Two controllers have been implemented i a classical linear quadratic regulator LQR and ii an L1 adaptive controller. Both controller performance are validated by simulations. Different cases are analyzed, including simulations of experimental flights. The L1 adaptive controller is validated not only for the linear model but also for the nonlinear model and for realistic cases in which a time delay and an actuator model are included. Both controllers guarantee good performance. A retuning of the L1 controller is not required even in presence of time delay and for the nonlinear model.
- Pilotless Aircraft