Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control

Nonami, Kenzo; Kendoul, Farid; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke

doi:10.1007/978-4-431-53856-1_4

Cited by 26 publications

(22 citation statements)

References 8 publications

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“…In Japan, a Chiba University research group and GH Craft, Ltd. have jointly developed a prototype QTWUAV [8] of comparable size to AKITSU, and they have designed linear timeinvariant linear quadratic integral controllers for its roll and pitch motions and a proportional controller for its yaw motions in helicopter mode. These controllers have demonstrated good performance in flight tests but are applicable only around hovering; that is, the QTWUAV can fly only around helicopter mode and further flight controller development is required to achieve conversion to airplane mode.…”

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“…These controllers have demonstrated good performance in flight tests but are applicable only around hovering; that is, the QTWUAV can fly only around helicopter mode and further flight controller development is required to achieve conversion to airplane mode. In particular, compensation schemes for achieving coordinated turns and adapting to the imbalances of the four driving forces are crucial to realizing safe flight in airplane mode, but neither of these have been developed in [8]. A research group at Sabanci University in Turkey has also developed a QTWUAV named "SUAVI" (Sabanci University UAV) [9].…”

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Flight Controller Design and Demonstration of Quad-Tilt-Wing Unmanned Aerial Vehicle

Sato

Muraoka

2015

Journal of Guidance, Control, and Dynamics

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This paper concerns the flight controller design of aircraft that has significant changes in aerodynamic characteristics and addresses the flight controller design of a quad-tilt-wing unmanned aerial vehicle that has vertical takeoff and landing as well as high-speed cruise capabilities. The quad-tilt-wing unmanned aerial vehicle has a tandem wing that tilts between vertical to horizontal positions. This configuration change significantly alters its aerodynamic characteristics, and therefore requires a gain-scheduled flight controller. The gain-scheduled flight controller, which consists of a gain-scheduled stability augmentation system, a gain-scheduled control augmentation system, and a gain-scheduled turn coordinator, is also required to be robust against modeling errors because the motion dynamics of the quad-tilt-wing unmanned aerial vehicle are inherently unstable at almost all wing tilt angles and the precise aerodynamic characteristics are not available. To this end, this paper proposes a design method for structured gain-scheduled flight controllers by combining a conventional gain-scheduled controller design method and multiple-model approach to satisfy the robustness requirement, and it designs a gain-scheduled flight controller for the quad-tilt-wing unmanned aerial vehicle. The effectiveness of the method is demonstrated by flight tests during which the quad-tilt-wing unmanned aerial vehicle successfully achieved full conversion flight: that is, vertical takeoff, accelerating transition, high-speed cruise, decelerating transition, and vertical landing, as well as super-short takeoff.Nomenclature G lon τ = linearized longitudinal motion model G lat τ = linearized lateral-directional motion model K lon τ = primary flight control system for longitudinal motions K lat τ = primary flight control system for lateral-directional motions p, q, r = attitude rates, rad∕s s = derivative operator T a = 0.25; time constant of actuator model, s T th = 0.23; time constant of motor model, s V = true airspeed, m∕s v = lateral airspeed, m∕s β = angle of sideslip, deg δ flail c = flap aileron command, rad δ flelv c = flap elevator command, rad δ flrud c = flap rudder command, rad δ fl lon , δ fl lat = flaperon angles for longitudinal/lateral-directional motions, rad δ pwail c = power aileron command, % δ pwelv c = power elevator command, % δ pwrud c = power rudder command, % δ rud = rudder angle, rad δ rud c = rudder command, rad δ th c = throttle command, % δ th lon , δ th lat = throttle positions for longitudinal/lateral-directional motions, % δ thstick = pilot throttle stick position, % δ θstick = pilot pitch stick position, % δ ϕstick = pilot roll stick position, % δ ψstick = pilot yaw stick position, % τ w = tilt angle, deg ϕ, θ, ψ = attitude angles, rad

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Flight Controller Design and Demonstration of Quad-Tilt-Wing Unmanned Aerial Vehicle

Sato

Muraoka

2015

Journal of Guidance, Control, and Dynamics

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“…Classical control techniques have been proposed for the ŕight control of tiltrotor aircraft over the whole ŕight envelope; PID control is a common approach. With the aid of PID controller, quad tilt-wing unmanned air vehicle employed independent control unit of wings and rotors [18,19] while a similar tilt-wing vehicle can tilt propellers and wings simultaneously [20]. An air vehicle with three tilting rotors was developed in the study [21,22] and it was observed that the helicopter mode of the tiltrotor vehicles mostly used attitude and position control [18ś22].…”

Section: Fig 1 the Aston Martin Volante Vision Conceptmentioning

confidence: 99%

Scheduled Flight Control System of Tilt-Rotor VTOL PAV

Kang

Whidborne

et al. 2023

AIAA SCITECH 2023 Forum

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This paper develops the longitudinal flight control scheme for the tilt-rotor VTOL Aston Martin Volante Vision. It is envisaged that the aircraft will be flown by a "flight-naive pilot" who is less well-trained than normal. The conversion corridor is developed and the optimum tilt schedule is determined using the minimum power curve and numerical optimisation to encompass hover, conversion and cruise flight without manipulating the rotor tilt angle. The methodology is found to be unique because two conversion schedules were integrated to reflect critical factors for conversion and stationary configurations. A proportional-integral-derivative (PID) controller has been designed with a suitable inceptor response and control allocation for a flight-naïve pilot while a blending schedule has unified different response types at the low and high speed into a single control system. The PID controllers are evaluated using design guidelines of ADS-33E-PRF and MIL-STD-1797A. The conversion flight simulation shows that the suggested longitudinal stability and control augmentation system (SCAS) are expected to reduce the pilot workload and improve handling qualities making performance and handling more suitable for a flight-naive pilot.

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“…Besides the conventional fixed-wings [14] and rotorcrafts [17,19], many new platforms such as flapping wings and ducted fans aircraft are introduced [2,11,13,18,24,26,31]. Some researchers are also motivated to design unconventional hybrid aircrafts, such as vertical takeoff and landing (VTOL) fixed-wings UAV to realize navigation in cluttered environments [9,16,23].…”

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confidence: 99%

Systematic Design and Implementation of a Micro Unmanned Quadrotor System

Phang

et al. 2014

Un. Sys.

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This paper presents a guideline to systematically design and construct a micro quadrotor unmanned aerial vehicle (UAV), capable of autonomous flight. The designed micro UAV has a gross weight of less than 40 g including power supply sufficient for an 8-min flight. The design is divided into three parts. First, investigation is made on the structural design of a conventional quadrotor. The quadrotor frame is then carefully designed to avoid any potential structural natural frequencies within the range of rotors operating speeds, based on simulation results obtained from MSC Nastran. Second, avionic system of the aircraft will be discussed in detail, mainly focusing on the design of printed circuit boards which include sensors, microprocessors and four electronic speed controllers, specially catered for micro quadrotor design. Last, a mathematical model for the micro quadrotor is derived based on Newton-Euler formalism, followed by methods of identifying the parameters. The flight test results are later described, analyzed and illustrated in this paper.

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Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control

Cited by 26 publications

References 8 publications

Flight Controller Design and Demonstration of Quad-Tilt-Wing Unmanned Aerial Vehicle

Flight Controller Design and Demonstration of Quad-Tilt-Wing Unmanned Aerial Vehicle

Scheduled Flight Control System of Tilt-Rotor VTOL PAV

Systematic Design and Implementation of a Micro Unmanned Quadrotor System

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