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Design and Tune Controller for VTOL UAV

Open Live Script

This series of examples shows you how to design and tune a Vertical Takeoff and Landing (VTOL) UAV Controller by using a reference application template as a MATLAB® Project. For more information about MATLAB Projects, see Create Projects.

This reference application models the VTOL UAV in a tilt rotor configuration. In this configuration, the VTOL UAV operates two rear fixed rotors, two tilting front rotors, and a wing. This configuration enables the VTOL UAV to take off and land vertically without the need of a runway like a multicopter, while attaining a relatively high cruising speed by transitioning a to fixed wing configuration.

Continue to VTOL UAV Model Overview to get an overview of the VTOL UAV Model. To see the VTOL UAV in action, continue to Simulate Your First VTOL UAV Flight.

Once you are ready to start the VTOL UAV control design process, navigate to any of the examples in this example series.

VTOL UAV Control Design Steps

This example series breaks down the VTOL UAV control design into the following steps:

  1. Tune Control Design for VTOL UAV in Hover Configuration

  2. Tune Hover Control Design for VTOL UAV in Steady Wind Condition

  3. Multiloop Control Design for VTOL UAV in Fixed Wing Flight

  4. Tune Control Design for VTOL UAV in Transition

  5. Visualize VTOL UAV Mission Over Urban Environment

  6. PX4 Hardware-in-the-Loop (HITL) Simulation with VTOL UAV Tilt-Rotor Plant in Simulink

  7. Visualize PX4 Hardware-in-the-Loop (HITL) Simulation with VTOL UAV Over Urban Environment

  8. Customize VTOL UAV Configuration

VTOL UAV Model Overview

To open the example livescript and directory which contains the Simulink project file, first run openExample('uav/DesignAndTuneControllerForVTOLUAVExample') in the command window.

You must open the VTOLRefApp.prj project file to access the Simulink model, supporting files, and project shorcuts that this example uses.

% Open the Simulink project after running openExample('uav/DesignAndTuneControllerForVTOLUAVExample')
prj = openProject("VTOLApp/VTOLRefApp.prj");

Open and view the Project Shotcuts tab.

Click Open Model shortcut to Open the VTOLTiltrotor Simulink model and explore the model.

The VTOLTiltrotor Simulink® model contains these six subsystems that you can customize in accordance with your design:

  • Ground Control Station – Commands the VTOL UAV to execute a set of maneuvers to complete a mission.

  • Autopilot – VTOL UAV flight controller. This subsystem contains a low level controller and a Guidance Test Bench that enables you to test either using manual control or a guidance test bench. The guidance test bench consists of guidance logic that can be used to architect specific missions and test out control robustness.

  • Manual Control Dashboard – Use this subsystem to manually control the VTOL UAV. Before using this subsystem, you must enable manual control mode of the test bench by using the Manual Mode shortcuts. Alternatively, you can use the setupHoverManual or setupFixedWingManual functions.

  • Digital Twin – VTOL UAV plant mode. This subsystem contains the dynamic, aerodynamics and propulsion model of the VTOL UAV, as well as wind model for testing.

  • Visualization – Visualize the VTOL UAV flight.

Simulate Your First VTOL UAV Flight

To see the VTOL UAV in action, simulate VTOL UAV flight with manual control in hover configuration.

Open and view the Project Shotcuts tab.

Configure the VTOLTiltrotor Simulink model for this flight by using the following project shortucts.

  1. Click the Getting Started shortcut to set up the aircraft plant model and base controller.

  2. Click the Set Hover Configuration shortcut to configure the UAV to hover configuration.

  3. Click Manual Mode shortcut in the Hover section of the project shortcuts to enable manual control of the VTOL UAV

Run the VTOLTiltrotor Simulink model, and navigate to VTOLTiltrotor/Manual Control Dashboard

Adjust the sliders and observe the flight response of the UAV in hover configuration. You can optionally switch off the fixed wing aerodynamics to observe controller performance without aerodynamic effect.

response.png

To improve the VTOL UAV performance in tracking inputs during hover mode, visit Tune Control Design for VTOL UAV in Hover Configuration.