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Auto trimming longitudinal Control for Fixed wing / VTOL UAVs
Fixed wing and VTOL (Vertical Take Off and Landing) type UAVs have become a crucial part of the drone industry. However, due to the nonlinear nature of the dynamics of these vehicles, it takes considerable engineering effort to tune the controllers for these vehicles.The purpose of this project is to explore the possibility of automating the process of tuning high level longitudinal flight controls.
Keywords: VTOL, fixedwing, aerial vehicles
Fixed wing and VTOL (Vertical Take Off and Landing) type UAVs have become a crucial part of the drone industry due to their long endurance and ability to cover large areas. However, due to the nonlinear nature of the dynamics of these vehicles, it takes considerable engineering effort to tune the controllers for these vehicles. Recent advancements in automating the tuning process have shown promising results for low level controls.
The purpose of this project is to explore the possibility of automating the process of tuning high level longitudinal flight controls. In order to achieve this, we need to excite the system with an informative maneuver so that the vehicle dynamics become observable and estimate the optimal control parameters for the desired vehicle behavior.
This project will be done in collaboration with Auterion AG
Fixed wing and VTOL (Vertical Take Off and Landing) type UAVs have become a crucial part of the drone industry due to their long endurance and ability to cover large areas. However, due to the nonlinear nature of the dynamics of these vehicles, it takes considerable engineering effort to tune the controllers for these vehicles. Recent advancements in automating the tuning process have shown promising results for low level controls. The purpose of this project is to explore the possibility of automating the process of tuning high level longitudinal flight controls. In order to achieve this, we need to excite the system with an informative maneuver so that the vehicle dynamics become observable and estimate the optimal control parameters for the desired vehicle behavior. This project will be done in collaboration with Auterion AG
- Method
- Literature review / evaluation on auto tuning / system identification
- Input shaping for optimal identification maneuvers
- System identification using flight logs for tuning longitudinal flight controls
- Software Integration
- Integration and evaluation of different approaches
- Maneuver injection integration for data acquisition
- Evaluation of methods with real flight data
Experiments, evaluation, write-up
- Method - Literature review / evaluation on auto tuning / system identification - Input shaping for optimal identification maneuvers - System identification using flight logs for tuning longitudinal flight controls - Software Integration - Integration and evaluation of different approaches - Maneuver injection integration for data acquisition - Evaluation of methods with real flight data Experiments, evaluation, write-up
- Highly motivated students
- Knowledge of Python is mandatory
- Knowledge of system identification, estimation is a plus
Experience with PX4 / ROS is a plus
- Highly motivated students - Knowledge of Python is mandatory - Knowledge of system identification, estimation is a plus Experience with PX4 / ROS is a plus