Modeling and Control of a Tailsitter UAV

Chiappinelli, Romain; Nahon, Meyer

doi:10.1109/icuas.2018.8453301

Cited by 17 publications

(40 citation statements)

References 15 publications

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“…Plane shape of the wing With the continuous development of aviation technology, to adapt to different environments and operational tasks, it is necessary to correctly choose the plane shape of the wing, which is divided into straight, swept back, swept forward and delta wing (Dündar et al, 2020;Duc et al, 2012;Chiappinelli and Nahon, 2018). The structure of the straight wing is simple and easy to process, and the production cost is low, and it is suitable for low-speed aircraft.…”

Section: Fixed Wing Designmentioning

confidence: 99%

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Guan

Zeng

2022

AEAT

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Purpose To solve the problems of short battery life and low transportation safety of logistics drones, this paper aims to propose a design of logistics unmanned aerial vehicles (UAV) wing with a composite ducted rotor, which combines fixed wing and rotary-wing. Design/methodology/approach This UAV adopts tiltable ducted rotor combined with fixed wing, which has the characteristics of fast flight speed, large carrying capacity and long endurance. At the same time, it has the hovering and vertical take-off and landing capabilities of the rotary-wing UAV. In addition, aerodynamic simulation analysis of the composite model with a fixed wing and a ducted rotor was carried out, and the aerodynamic influence of the composite model on the UAV was analyzed under different speeds, fixed wing angles of attack and ducted rotor speeds. Findings The results were as follows: when the speed of the ducted rotor is 2,500 rpm, CL and K both reach maximum values. But when the speed exceeds 3,000 rpm, the lift will decrease; when the angle of attack of the fixed wing is 10° and the rotational speed of the ducted rotor is about 3,000 rpm, the aerodynamic characteristics of the wing are better. Originality/value The novelty of this work comes from a composite wing design of a fixed wing combined with a tiltable ducted rotor applied to the logistics UAVs, and the aerodynamic characteristics of the design wing are analyzed.

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Section: Fixed Wing Designmentioning

confidence: 99%

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Guan

Zeng

2022

AEAT

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“…where c and s represent respectively cosine and sine, and ᾱ = α 0 + α T . Solving (19) and (20) for θ and T gives where…”

Section: A Attitude and Collective Thrustmentioning

confidence: 99%

“…Existing flight control designs for tailsitter aircraft are based on various approaches. Blending of separate controllers [17], gain scheduling [18], or pre-planned transition maneuvers [19] can be used to handle the change of dynamics between hover and forward flight. However, when performing agile maneuvering at large angle of attack, the aircraft continuously enters and exits the transition regime and it is preferable to utilize a controller without blending or switching.…”

Section: Introductionmentioning

confidence: 99%

Global Trajectory-tracking Control for a Tailsitter Flying Wing in Agile Uncoordinated Flight

Tal

Karaman

2021

Aiaa Aviation 2021 Forum

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We propose a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing micro unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. Our global control formulation enables agile maneuvering throughout the flight envelope, including uncoordinated flight conditions with sideslip. We derive a differential flatness transform for the nonlinear tailsitter dynamics with a simplified aerodynamics model. Using this transform, the proposed controller incorporates accurate tracking of the position reference along with its temporal derivatives velocity, acceleration and jerk, as well as the yaw reference and yaw rate. The inclusion of jerk and yaw rate references through an angular velocity feedforward term increases tracking performance on agile trajectories with fast-changing accelerations. The control design is based on a simplified aerodynamics model that does not require extensive modeling of the aircraft dynamics. By applying incremental nonlinear dynamic inversion (INDI), the controller only depends on a local input-output relation to incrementally update control inputs, resulting in robustness against modeling inaccuracies. We achieve INDI with nonlinear dynamics inversion based on the derived differential flatness transform. The resulting control algorithm is extensively evaluated in flight tests, where it demonstrates accurate trajectory tracking and challenging agile maneuvers, such as uncoordinated sideways flight, aggressive transitions while turning, and differential thrust turning. Supplemental MaterialA video of the experiments can be found at https://youtu.be/tGQO-6DPT1M.

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“…Various control and estimation techniques have been applied to these vehicles to improve hovering performance when dealing with wind disturbances [9], [10]. Chiappinelli and Nahon [11] have also developed a basic modelling and control framework for tailsitter vehicles. Alternative designs, such as quadrotor tailsitters [12], [13] have been explored as well.…”

Section: Related Workmentioning

confidence: 99%

The Phoenix Drone: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education

Duivenvoorden

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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In this paper, we introduce the Phoenix drone:the first completely open-source tail-sitter micro aerial vehicle (MAV) platform. The vehicle has a highly versatile, dualrotor design and is engineered to be low-cost and easily extensible/modifiable. Our open-source release includes all of the design documents, software resources, and simulation tools needed to build and fly a high-performance tail-sitter for research and educational purposes.The drone has been developed for precision flight with a high degree of control authority. Our design methodology included extensive testing and characterization of the aerodynamic properties of the vehicle. The platform incorporates many offthe-shelf components and 3D-printed parts, in order to keep the cost down. Nonetheless, the paper includes results from flight trials which demonstrate that the vehicle is capable of very stable hovering and accurate trajectory tracking.Our hope is that the open-source Phoenix reference design will be useful to both researchers and educators. In particular, the details in this paper and the available open-source materials should enable learners to gain an understanding of aerodynamics, flight control, state estimation, software design, and simulation, while experimenting with a unique aerial robot.

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Modeling and Control of a Tailsitter UAV

Cited by 17 publications

References 15 publications

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Global Trajectory-tracking Control for a Tailsitter Flying Wing in Agile Uncoordinated Flight

The Phoenix Drone: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education

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