Aggressive maneuvering of a thrust vectored flying wing: A receding horizon approach
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General Robotics, Automation, Sensing and Perception Laboratory
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aerospace control
military aircraft
nonlinear control systems
remotely operated vehicles
aerodynamic forces
aggressive maneuvering
ducted fan
forward flight
hover position
nonlinear control design
receding horizon approach
thrust vectored flying wing
thrust vectored aircraft
receding horizon control
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This paper deals with the control of a thrust vectored flying wing known as the ducted fan, developed at California Institute of Technology. The experiment was developed to serve as a testbed for nonlinear control design. In an earlier paper, the authors reported simulation results based on a simplified (no aerodynamics involved) planar model of the ducted fan around hover position. In this paper we report on the modeling and simulation of the ducted fan in forward flight, where aerodynamic forces and moments can no longer be ignored. A receding horizon scheme is developed to generate trajectories for the forward flight model. Using a more simplified version of the model, some aggressive trajectories are generated. These trajectories are then used as a reference in the receding horizon scheme, and morphed into the trajectories of the full model. Simulation results depict the capabilities of the ducted fan as well as this methodology in performing aggressive maneuvers.
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Copyright 2000 IEEE. Reprinted from Proceedings of the 39th IEEE Conference on Decision and Control 2000, Volume 4, pages 3582-3587. Publisher URL: http://dx.doi.org/10.1109/CDC.2000.912261 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Ali Jadbabaie was affiliated with the California Institute of Technology. Currently (March 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.