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Experimental Nonlinear and Incremental Control Stabilization of a Tail-Sitter UAV with Hardware-in-t

This paper explores nonlinear control solutions for stabilizing a Tail-Sitter UAV using WIZnet's W5500 Ethernet module for real-time data communication.

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Published July 01, 2024 · © Creative Commons Attribution CC BY version 4.0 or later (CC BY 4+)

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Original author: Alexandre Athayde · PortugalOriginal source (new tab)

Experimental Nonlinear and Incremental Control Stabilization of a Tail-Sitter UAV with Hardware-in-t

Components

Hardware components
W5500

WIZnet - W5500

x 1

Ethernet Module

WIZnet parts

Project description

Tail-sitter UAVs, which combine the advantages of fixed-wing aircraft and rotorcraft, require robust stabilization strategies for hovering and vertical maneuvers. This study investigates different nonlinear control solutions: a literature-based strategy, Nonlinear Dynamic Inversion (NDI), and its incremental version (INDI). These controllers were implemented and tuned in simulation to stabilize a tail-sitter model, complemented by estimation methods for necessary variable feedback. The controllers and estimators were then implemented on a microcontroller and validated in a…

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