Iterative Learning based feedforward control for Transition of a Biplane-Quadrotor Tailsitter UAS
Nidhish Raj,Ashutosh Simha,Mangal Kothari,Abhishek,Ravi N. Banavar,Nidhish Raj,Ashutosh Simha,Mangal Kothari,Abhishek,Ravi N. Banavar
This paper provides a real time on-board algorithm for a biplane-quadrotor to iteratively learn a forward transition maneuver via repeated flight trials. The maneuver is controlled by regulating the pitch angle and propeller thrust according to feedforward control laws that are parameterized by polynomials. Based on a nominal model with simplified aerodynamics, the optimal coefficients of the poly...
