Designing a safe and robust automatic take-off maneuver for a fixed-wing UAV

Martin E. Kugler, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

The SAGITTA Demonstrator is a novel UAV with a digital flight control system being developed by the Institute of Flight System Dynamics of the Technical University of Munich. This paper presents the implementation of an automatic take-off algorithm as a system automation module of the auto flight system. Based on a phase-breakdown of take-off, the implementation features a state machine that covers the procedure of the maneuver and the transition conditions from one phase to another. Through this state machine, the automatic take-off algorithm enables controller modules of the auto flight system and provides corresponding commands for the conduct of take-off. The design of the automatic take-off algorithm focuses on maximizing safety and robustness against uncertainties and disturbances. Presented simulation results prove the concept of the algorithm as well as its robustness to simulated reality effects.

Original languageEnglish
Title of host publication2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509035496
DOIs
StatePublished - 2016
Event14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 - Phuket, Thailand
Duration: 13 Nov 201615 Nov 2016

Publication series

Name2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016

Conference

Conference14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Country/TerritoryThailand
CityPhuket
Period13/11/1615/11/16

Keywords

  • ATOL
  • Automatic Take-off
  • Flight Control System
  • Remotely Piloted Aircraft
  • SAGITTA Demonstrator
  • System Architecture
  • System Automation
  • Unmanned Aerial Vehicle UAV

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