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Towards Flight Envelope Protection for the NASA Tiltwing eVTOL Flight Mode Transition using Hamilton-Jacobi Reachability

Ting-Wei Hsu, Divyang Amin, Michael Piedmonte, Bechamo LLC
Jason Choi, Claire Tomlin, UC Berkley
Shaun McWherter, NASA Armstrong Flight Research Center

https://doi.org/10.4050/F-0079-2023-18067

Abstract:
This paper presents a collaborative research effort between authors from Bechamo LLC, UC Berkeley, and NASA to establish a framework for applying Hamilton-Jacobi Reachability Analysis to the full 6-DOF dynamics of the NASA Tiltwing vehicle, verifying the safe flight envelope during the flight mode transition between hover and cruise flight, which prevents loss of control of the vehicle and ensures recoverability to safe trim conditions. This involved first verifying the nominal flight mode transition path as a series of trim points, defining the safe flight envelope using reachability, and decomposing the system dynamics into longitudinal and lateral subsystems. Our formulation guarantees the computed envelope's robustness against modeling errors and uncertainty, and the usage of state decomposition significantly improved the tractability of the reachability computation. The framework's success is validated through 6-DOF Monte Carlo nonlinear simulation of vehicle dynamics, demonstrating that the vehicle states within the flight envelope can successfully recover to trim states and continue a safe flight mode transition.


Towards Flight Envelope Protection for the NASA Tiltwing eVTOL Flight Mode Transition using Hamilton-Jacobi Reachability

  • Presented at Forum 79
  • 19 pages
  • SKU # : F-0079-2023-18067
  • Electric VTOL

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Towards Flight Envelope Protection for the NASA Tiltwing eVTOL Flight Mode Transition using Hamilton-Jacobi Reachability

Authors / Details:
Ting-Wei Hsu, Divyang Amin, Michael Piedmonte, Bechamo LLC
Jason Choi, Claire Tomlin, UC Berkley
Shaun McWherter, NASA Armstrong Flight Research Center