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Designing autopilot and guidance algorithms to control translational and rotational dynamics of a fixed wing VTOL UAV

Güçlü, Anı
Guidance and autopilot algorithms are designed and applied to a fixed wing VTOL air vehicle. The algorithms are developed on a rotary wing and a fixed air vehicle. Each air vehicle is identified by experimentation to reduce the discrepancies among the system model and the actual air vehicles. Designed controllers for the air vehicles are deployed to Pixhawk Cube controller board. Indoor and outdoor flight tests are carried out. For the rotary wing air vehicle, active disturbance rejection control algorithms are used to control the states. Trajectory tracking is also carried out with distinct load cases which are unloaded, asymmetrically placed constant load, and slung load. Disturbances which are induced by the loads and the environment are estimated and rejected during indoor and outdoor tests. Control allocation algorithms are focused and applied to a fixed wing VTOL air vehicle for the flight phases among vertical and horizontal flights. Consumed energy during the flight is minimized by a dynamic direct control allocation algorithm. Desired force and moments (virtual inputs) which comes from the controllers are mapped to the set of actuators via control allocation algorithms. The fixed wing VTOL air vehicle is loaded with two loads underneath of the main wing. In the scenario, the fixed wing VTOL air vehicle takes off with loads. One of them is released at a point, and then the asymmetric load is carried to another point. Developed active disturbance control allocation and control allocation algorithms are used together.