Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter

Abstract

[abstFig src='/00280003/08.jpg' width=""300"" text='Arbitrary attitude hovering' ] The quad tilt rotor helicopter (QTRH), a tilt-rotor aircraft prototype, has fixed wings for long-range high-speed flight. Its rotor-tilt mechanism controls 4 rotor-tilt angles independently and controls its roll and pitch angles similarly to a multirotor helicopter. It controls yaw angle by thrust vectoring and moves forward and backward by tilting its rotors. Rotor-tilting maneuvers are the initial stage of flight-mode transition between helicopter and fixed-wing modes.

Aerial Torsional Work Utilizing a Multirotor UAV with Add-on Thrust Vectoring Device

“…In [19], an omnidirectional UAV composed of eight fixed propellers located around its frame, is capable of generating both direct and reverse thrust. Alternatively, designing systems with additional degrees-of-freedom (DOFs) in the rotors of the vehicle has shown great promise for aerial manipulation tasks [20][21][22][23][24]. These vehicles present designs with tilting rotors, which enable the control of the direction and magnitude of the applied thrust.…”