Challenges in Controller Design for Unconventional UAVs

Modeling and control of NextGen unmanned aircraft, including reconfigurable and hybrid ones, require consideration and incorporation of time-varying parameters and unstructured uncertainties. Accurate modeling includes not just one ‘nominal’ model, but a family of ‘admissible models’ on which robust controller design is based. Controller design may follow either the ‘one controller fits all models’, or the ‘reconfigurable controller’ paradigm. Regardless, modeling and control is based on a combination of model-based and data-driven approaches where parts of the system are learned and updated in (almost) real-time.A modeling and control framework for NextGen autonomous unmanned systems is first presented. Specifics are demonstrated in an unconventional fixed-wing Circulation Control (CC) UAV, named UC2AV that exhibits enhanced aerodynamic performance in terms of reduced runway for take-off and landing, increased effective payload capability and delayed stall. Results demonstrate the efficacy of the proposed scheme and the ability of the UC2AV to adapt to challenging CC-on-demand scenarios. This framework can be generalized and applied to a family of nonlinear systems with unstructured uncertainties and time-varying parameters. Next, a hybrid, prototype, aerial-ground unmanned vehicle is presented along with a real-time, 3D path planning and collision avoidance technique for navigation and control purposes.