Blar i NTNU Open på forfatter "Reinhardt, Dirk Peter"
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Data-Efficient Deep Reinforcement Learning for Attitude Control of Fixed-Wing UAVs: Field Experiments
Bøhn, Eivind Eigil; Coates, Erlend M.; Reinhardt, Dirk Peter; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current ... -
Homogeneous Parametric Modeling of Airloads
Matras, Finn; Reinhardt, Dirk Peter; Gryte, Kristoffer; Pedersen, Morten Dinhoff (Journal article; Peer reviewed, 2023) -
Hybrid Control of Fixed-Wing UAVs for Large-Angle Attitude Maneuvers on the Two-Sphere
Reinhardt, Dirk Peter; Coates, Erlend Magnus Lervik; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)We propose the design of a hybrid controller for fixed-wing unmanned aerial vehicles which guarantees global exponential tracking of attitude references on the two-sphere. The chosen attitude representation is singularity-free ... -
Modeling of the Skywalker X8 Fixed-Wing UAV: Flight Tests and System Identification
Reinhardt, Dirk Peter; Gryte, Kristoffer; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)This paper proposes a combination of wind-tunnel tests and flight experiments to find an aerodynamic model of the Skywalker X8 airframe. The static coefficients resulting from wind-tunnel tests are augmented with a ... -
Nonlinear Model Predictive Attitude Control for Fixed-Wing Unmanned Aerial Vehicle
Reinhardt, Dirk Peter; Johansen, Tor Arne (Chapter, 2019)Exploiting the physical limitations on the maneuverability of a fixed-wing Unmanned Aerial Vehicle (UAV) and simultaneously respecting its flight envelope and actuator constraints is a demanding task, for which Nonlinear ... -
On Nonlinear and Optimization-based Control of Fixed-Wing Unmanned Aerial Vehicles
Reinhardt, Dirk Peter (Doctoral theses at NTNU;2022:197, Doctoral thesis, 2022)Methods from linear control theory have a considerable share in the state-of-the-art toolbox for control systems engineers when designing autopilots for conventional passenger aircraft. Linear controllers have well-established ... -
Reduced-Attitude Control of Fixed-Wing Unmanned Aerial Vehicles Using Geometric Methods on the Two-Sphere
Coates, Erlend Magnus Lervik; Reinhardt, Dirk Peter; Fossen, Thor I. (Peer reviewed; Journal article, 2020)As an alternative to reduced-attitude control of fixed-wing unmanned aerial vehicles using roll and pitch angles, we propose to use a global representation that evolves on the two-sphere. The representation of reduced ... -
Robustness Analysis of a Nonlinear Model Predictive Controller for Fixed-Wing UAVs
Stadheim, Per Anders (Master thesis, 2020)En av de viktigste bekymringene for en NMPC er evalueringen av kontrollerens ytelse i varierende miljøer, nærmere bestemt kontrollerens robusthet. Robusthet kan defineres som et biprodukt av kontrollstabilitet og muligheten ... -
A Symmetry Calibration Procedure for Sensor-to-Airframe Misalignments in Wind Tunnel Data
Reinhardt, Dirk Peter; Pedersen, Morten Dinhoff; Gryte, Kristoffer; Johansen, Tor Arne (Chapter, 2022)We propose a calibration method that transforms data from wind tunnel experiments into a coordinate frame where asymmetries with respect to the symmetry plane of most fixed-wing aircraft are minimized in a least-squares ... -
Toward Nonlinear Flight Control for Fixed-Wing UAVs: System Architecture, Field Experiments, and Lessons Learned
Coates, Erlend M.; Reinhardt, Dirk Peter; Gryte, Kristoffer; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)Inner-loop control algorithms in state-of-the-art autopilots for fixed-wing unmanned aerial vehicles (UAVs) are typically designed using linear control theory, to operate in relatively conservative flight envelopes. In the ...