A hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance

Matsumoto, Takaaki; Kita, Koichi; Suzuki, Ren; Oosedo, Atsushi; Go, Kenta; Hoshino, Yuta; Konno, Atsushi; Uchiyama, Masaru

doi:10.1109/robot.2010.5509183

Cited by 66 publications

(43 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The desired heading angle was fixed as b 1 d (t) = [1,0,0]. Likewise, the magnitude of the velocity was set as ν = 1 and the weight c = 200.…”

Section: Waypointsmentioning

confidence: 99%

“…In contrast, fixed-wing vehicles can efficiently cover greater distances and have faster maximum speeds. However, they cannot hover (barring experimental vehicles, such as [1]), which limits their use in certain scenarios. Additionally, their dynamic constraints restrict their manoeuvrability, and they must maintain a minimum airspeed to produce sufficient lift.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs

Jamieson

Biggs

2015

Aerospace

View full text Add to dashboard Cite

This paper presents a semi-analytical trajectory planning method for quadrotor UAVs. These trajectories are analytically defined, are constant in speed and sub-optimal with respect to a weighted quadratic cost function of the translational and angular velocities. A technique for concatenating the trajectories into multi-segment paths is demonstrated. These paths are smooth to the first derivative of the translational position and pass through defined waypoints. A method for detecting potential collisions by discretizing the path into a coarse mesh before using a numerical optimiser to determine the point of the path closest to the obstacle is presented. This hybrid method reduces the computation time when compared to discretizing the trajectory into a fine mesh and calculating the minimum distance. A tracking controller is defined and used to show that the paths are dynamically feasible and the typical magnitudes of the controller inputs required to fly them.

show abstract

“…The desired heading angle was fixed as b 1 d (t) = [1,0,0]. Likewise, the magnitude of the velocity was set as ν = 1 and the weight c = 200.…”

Section: Waypointsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs

Jamieson

Biggs

2015

Aerospace

View full text Add to dashboard Cite

show abstract

“…An aerial vehicle designed to possess the strengths of both a rotary and fixed-wing aircraft will have both of the advantages in one platform, with acceptable trade-offs in some capabilities. Available studies [1][2][3][4][5] in VTOL-FW UAV platform category include tailsitters, tiltrotors and tiltwings. Although all of these platforms can perform hover and level flight, the main difference comes from the method of transition method (Table 2) between flight modes.…”

Section: Introductionmentioning

confidence: 99%

Analysis of a UAV that can Hover and Fly Level

Çakıcı

Leblebi̇ci̇oğlu

2016

MATEC Web of Conferences

View full text Add to dashboard Cite

Abstract. In this study, an unmanned aerial vehicle (UAV) with level flight, vertical take-off and landing (VTOL) and mode-changing capability is analysed. The platform design combines both multirotor and fixed-wing (FW) conventional airplane structures and control surfaces; therefore, named as VTOL-FW. The aircraft is modelled using aerodynamical principles and linear models are constructed utilizing small perturbation theory for trim conditions. The proposed method of control includes implementation of multirotor and airplane mode controllers and design of an algorithm to transition between modes in achieving smooth switching manoeuvres between VTOL and FW flight. Thus, VTOL-FW UAV's flight characteristics are expected to be improved by enlarging operational flight envelope through enabling mode-transitioning, agile manoeuvres and increasing survivability. Experiments conducted in simulation and real world environments show that, VTOL-FW UAV has both multirotor and airplane characteristics with extra benefits in an enlarged flight envelope.

show abstract

“…In order to increase the robustness of the system, a disturbance observer is introduced to estimate the unknown disturbances acting on the system. In [8], the authors propose a novel hovering-control strategy for a tail-sitter VTOL UAV that increases stability against disturbance. An inverted pendulum-model-based tilt-twist angle control with PID controller is implemented.…”

Section: Introductionmentioning

confidence: 99%

Enhanced Hover Control of Quad Tilt Frame UAV under Windy Conditions

Krishnakumar

Rasheed

Kumar³

2015

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

A key research subject in the area of unmanned aerial vehicles (UAVs) is how to make them autonomous. Towards this goal, the most vital step is stabilizing the attitude of the vehicles. This paper presents the design of an autonomous control system for a hybrid UAV to enable it to carry out a stable hovering mission under external wind disturbances. The hovering capability of the hybrid UAV under windy conditions is analysed with computational fluid dynamics (CFD) and a control law is designed to stabilize the craft in the hovering position. The proposed hovering controller is verified with simulations and experiments. Finally, the flight control system is installed in a small prototype and a full transition flight test, including vertical take-off, transition from vertical flight to cruise, cruise, transition cruise to vertical mode and hover landing, is successfully accomplished.

show abstract

A hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance

Cited by 66 publications

References 11 publications

Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs

Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs

Analysis of a UAV that can Hover and Fly Level

Enhanced Hover Control of Quad Tilt Frame UAV under Windy Conditions

Contact Info

Product

Resources

About