Abstract:
This article focuses on deriving a discrete-time optimal control law for the transition ma-noeuver, from its biplane mode to the quadrotor mode, of a swivelling biplane quadrotor, a hybrid vertical take-off and landing uav. The problem is formulated in a discrete setting by discretizing the existing continuous-time model, setting up a measure of performance and then applying the discrete-time pontryagin maximum principle (dmp) on lie groups to obtain the first order necessary conditions for an optimal transition. A modified multiple shooting method is used to solve the necessary conditions and the proposed control law is validated by numerical experiments. © 2022, american institute of aeronautics and astronautics inc, aiaa. All rights reserved.