Dynamic feedback linearization of flying wings with real-time Newton-Raphson iterations
- Author
- Tom Lefebvre (UGent) , Jolan Wauters (UGent) and Guillaume Crevecoeur (UGent)
- Organization
- Abstract
- This paper details development of a dynamic feed-back linearization controller tailored to trajectory tracking of hybrid UAVs with a (tailsitter) flying wing topology. First, a differential flatness transform is presented using a simplified aerodynamic model with negligible lateral forces. The proposed controller derives from the flatness transform. For every state we can determine a collection of flat trajectories that correspond with that state. From that collection, we choose a flat trajectory that converges smoothly to the reference flat trajectory and apply the flat inverse dynamics to compute a suitable control input. To remedy the lack of an explicit inverse of the forward dynamics, we propose a dynamic inverse mapping approach which keeps the control algorithm computationally affordable. We evaluate and compare the control architecture with state-of-the-art cascade control in simulation.
- Keywords
- FLIGHT CONTROL, TRANSITION, FLATNESS, SYSTEMS, MODEL
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Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-01J7GJY2H3JWWG96796SDQ5PDN
- MLA
- Lefebvre, Tom, et al. “Dynamic Feedback Linearization of Flying Wings with Real-Time Newton-Raphson Iterations.” 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024, IEEE, 2024, pp. 1077–83, doi:10.23919/ecc64448.2024.10590918.
- APA
- Lefebvre, T., Wauters, J., & Crevecoeur, G. (2024). Dynamic feedback linearization of flying wings with real-time Newton-Raphson iterations. 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024, 1077–1083. https://doi.org/10.23919/ecc64448.2024.10590918
- Chicago author-date
- Lefebvre, Tom, Jolan Wauters, and Guillaume Crevecoeur. 2024. “Dynamic Feedback Linearization of Flying Wings with Real-Time Newton-Raphson Iterations.” In 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024, 1077–83. IEEE. https://doi.org/10.23919/ecc64448.2024.10590918.
- Chicago author-date (all authors)
- Lefebvre, Tom, Jolan Wauters, and Guillaume Crevecoeur. 2024. “Dynamic Feedback Linearization of Flying Wings with Real-Time Newton-Raphson Iterations.” In 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024, 1077–1083. IEEE. doi:10.23919/ecc64448.2024.10590918.
- Vancouver
- 1.Lefebvre T, Wauters J, Crevecoeur G. Dynamic feedback linearization of flying wings with real-time Newton-Raphson iterations. In: 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024. IEEE; 2024. p. 1077–83.
- IEEE
- [1]T. Lefebvre, J. Wauters, and G. Crevecoeur, “Dynamic feedback linearization of flying wings with real-time Newton-Raphson iterations,” in 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024, Stockholm, Sweden, 2024, pp. 1077–1083.
@inproceedings{01J7GJY2H3JWWG96796SDQ5PDN,
abstract = {{This paper details development of a dynamic feed-back linearization controller tailored to trajectory tracking of hybrid UAVs with a (tailsitter) flying wing topology. First, a differential flatness transform is presented using a simplified aerodynamic model with negligible lateral forces. The proposed controller derives from the flatness transform. For every state we can determine a collection of flat trajectories that correspond with that state. From that collection, we choose a flat trajectory that converges smoothly to the reference flat trajectory and apply the flat inverse dynamics to compute a suitable control input. To remedy the lack of an explicit inverse of the forward dynamics, we propose a dynamic inverse mapping approach which keeps the control algorithm computationally affordable. We evaluate and compare the control architecture with state-of-the-art cascade control in simulation.}},
author = {{Lefebvre, Tom and Wauters, Jolan and Crevecoeur, Guillaume}},
booktitle = {{2024 EUROPEAN CONTROL CONFERENCE, ECC 2024}},
isbn = {{9798331540920}},
keywords = {{FLIGHT CONTROL,TRANSITION,FLATNESS,SYSTEMS,MODEL}},
language = {{eng}},
location = {{Stockholm, Sweden}},
pages = {{1077--1083}},
publisher = {{IEEE}},
title = {{Dynamic feedback linearization of flying wings with real-time Newton-Raphson iterations}},
url = {{http://doi.org/10.23919/ecc64448.2024.10590918}},
year = {{2024}},
}
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