Enhancing VTOL Multirotor Performance With a Passive Rotor Tilting Mechanism

Iriarte, Imanol; Iglesias, I.J.; Lasa, Joseba; Calvo-Soraluze, Hodei; Sierra, Basilio

doi:10.1109/access.2021.3075113

Cited by 6 publications

(4 citation statements)

References 25 publications

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“…Further studies also need to be carried out, although the modeling is more complex, which combines fixed wing [90][91] and copter control [92][93] [94], as well as aircraft transition phase [95]. The ultimate and main goal in UAV modeling and simulation is to create a safe and reliable system with a fast time [96]. The obtained model will use for simulation in the specific and even in dangerous condition [97][98] [99].…”

Section: B Analytical Model Validationmentioning

confidence: 99%

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Priyambodo

Majid²,

Shouran³

2023

Journal of Robotics and Control

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Vertical take-off and landing (VTOL) is a type of unmanned aerial vehicle (UAV) that is growing rapidly because its ability to take off and land anywhere in tight spaces. One type of VTOL UAV, the tail-sitter, has the best efficiency. However, besides the efficiency offered, some challenges must still be overcome, including the complexity of combining the ability to hover like a helicopter and fly horizontally like a fixed-wing aircraft. This research has two contributions: in the form of how the analytical model is generated and the tools used (specifically for the small VTOL quad tail-sitter UAV) and how to utilize off-the-shelf components for UAV empirical modeling. This research focuses on increasing the speed and accuracy of the UAV VTOL control design in fixed-wing mode. The first step is to carry out analysis and simulation. The model is analytically obtained using OpenVSP in longitudinal and lateral modes. The next step is to realize this analytical model for both the aircraft and the controls. The third step is to measure the flight characteristics of the aircraft. Based on the data recorded during flights, an empirical model is made using system identification technique. The final step is to vali-date the analytical model with the empirical model. The results show that the characteristics of the analytical mode fulfill the specified requirements and are close to the empirical model. Thus, it can be concluded that the analytical model can be implemented directly, and consequently, the VTOL UAV design and development process has been shortened.

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Section: B Analytical Model Validationmentioning

confidence: 99%

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Priyambodo

Majid²,

Shouran³

2023

Journal of Robotics and Control

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“…In addition, the parameters of the controller have not been optimized. In the paper, 22 the researchers have discussed the advantages of integrating a mechanical mechanism in the quadrotor structure to tilt its propellers in flight. To control this reconfigurable quadrotor, a LQR has been used.…”

Section: Related Workmentioning

confidence: 99%

Adaptive integral backstepping control of a reconfigurable quadrotor with variable parameters’ estimation

Derrouaoui

Bouzid

Guiatni

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work presents the control of a quadrotor capable of changing its configuration while flying. The designed controller should handle several arising issues since the drone geometric parameters are varying over time. This variation has a great influence on the quadrotor control, which prompts us to propose an efficient nonlinear adaptive integral backstepping controller. The control architecture includes an estimator of the inertia and other specific blocks to calculate the center of gravity and the mixing matrix. The performance of the proposed control approach has been compared with the conventional integral backstepping controller in two cases, with and without disturbances. The obtained results of the inertias and the center of gravity are also compared and confirmed with those calculated using Computer-Assisted Design–based model.

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“…The system inputs u = u 1 u 2 are obtained from ( 12), but the following procedure could also be used. Outputs functions (24) and their parametrization (25) are the secondtime derivate:…”

Section: Input-output Linearization With Output Parametrizationmentioning

confidence: 99%

“…Ref. [24] presents linear quadratic regulator applied to control vertical take-off and landing (VTOL) multi-rotor vehicle with passive rotor tilting mechanism. A control based on a function approximation technique using the variation of an approximated square system is presented in [25,26].…”

Section: Introductionmentioning

confidence: 99%

Control of Flexible Robot by Harmonic Functions

2022

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This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated into two parts. The arbitrary part of the control input is designed to control the directly actuated part of the dynamic system. The invariant part of the control is selected to steer the system zero dynamics in the desired way. The harmonic functions create the base for the invariant part of the control function. The residual vibration cancellation is the target of the presented invariant control strategy. The harmonic function frequencies are overtaken from the so-called natural motion, amplitudes are the results of the optimization process. The main target of this paper is to show the invariant control approach and its application to the system with flexible elements.

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Enhancing VTOL Multirotor Performance With a Passive Rotor Tilting Mechanism

Cited by 6 publications

References 25 publications

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Adaptive integral backstepping control of a reconfigurable quadrotor with variable parameters’ estimation

Control of Flexible Robot by Harmonic Functions

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