Extended incremental non-linear control allocation (XINCA) for quadplanes

Hybrid UAVs have gained a lot of interest for their combined vertical take-off & landing (VTOL) and efficient forward flight capabilities. But control is facing challenges in over-actuation conflicting requirements depending on the phase which can easily lead to actuator saturation. Incremental Non-linear Control Allocation (INCA) has been proposed solve platform’s allocation problem case saturation or by minimizing set objective functions. This work demonstrates INCA quadplanes, an in-plane combination between quadrotor conventional fixed-wing, proposes extension outer loop. The novel controller called Extended (XINCA) adds wing orientation as force-generating outerloop optimization. leads single all phases that avoids placing at negative angles attack minimizes load hover motors. XINCA low dependence accurate vehicle models requires only several optimization parameters. Flight simulations experimental flights are performed demonstrate performance.