---
title: "Experimental Nonlinear and Incremental Control Stabilization of a Tail-Sitter UAV with Hardware-in-t"
url: "https://maker.wiznet.io/matthew/projects/experimental-nonlinear-and-incremental-control-stabilization-of-a-tail-sitter-uav-with-hardware-in-t/"
markdown_url: "https://maker.wiznet.io/matthew/projects/experimental-nonlinear-and-incremental-control-stabilization-of-a-tail-sitter-uav-with-hardware-in-t/md"
type: "UCC: User Created Content"
author: "Alexandre Athayde"
author_url: "https://www.mdpi.com/2716396"
editor: "WIZnet"
editor_url: "https://maker.wiznet.io/"
original_author: "Alexandre Athayde"
original_url: "https://www.mdpi.com/2716396"
license: "Creative Commons Attribution CC BY version 4.0 or later (CC BY 4+)"
published: "2024-07-01"
language: "en"
tags: ["W5500"]
hardware: ["WIZnet W5500"]
likes: 0
views: 643
comments: 0
source: "WIZnet Makers (https://maker.wiznet.io/)"
---

# 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.

Original author: Alexandre Athayde (source: https://www.mdpi.com/2716396)

## Components

- **WIZnet W5500** x 1: Ethernet Module ([docs](https://docs.wiznet.io/Product/Chip/Ethernet/W5500))

WIZnet parts: W5500 ([Datasheet](https://docs.wiznet.io/Product/Chip/Ethernet/W5500/datasheet?utm_source=maker&utm_medium=project&utm_campaign=w5500), [product hub](https://maker.wiznet.io/products/w5500/))

## Article

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 Hardware-in-the-Loop (HITL) scenario. The experimental results validated the X-Vert model and compared the performance of different control solutions, with INDI showing robust control and accurate tracking capabilities with less actuator demand.

![](https://maker.wiznet.io/upload/ckeditor5/255394263%5F1719854286%2Epng)

WIZnet's W5500 Ethernet module was used to enable real-time data communication between the Arduino Nano 33 IOT and MATLAB. The Ethernet module provided high-speed data transmission and stability, minimizing communication delays and ensuring accurate real-time control data exchange.

**Hashtags**: #UAV #VTOL #TailSitter #NonlinearControl #INDI #NDI #HITL #Stabilization #FlightControl #WIZnet #W5500

**Categories**: Unmanned Aerial Vehicle, Flight Control, Robotics, Nonlinear Control, Hardware-in-the-Loop Validation, Networking

**Publish Date**: March 16, 2024

---

Source: https://maker.wiznet.io/matthew/projects/experimental-nonlinear-and-incremental-control-stabilization-of-a-tail-sitter-uav-with-hardware-in-t/