Modeling and Control of a Passively-Coupled Tilt-Rotor Vertical Takeoff and Landing Aircraft

Chiappinelli, Romain; Cohen, Mitchell; Doff-Sotta, Martin; Nahon, Meyer; Forbes, James Richard; Apkarian, Jacob

doi:10.1109/icra.2019.8793606

Cited by 19 publications

(7 citation statements)

References 22 publications

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“…This lowers the number of drives, but also increases the control difficulty. The third type is a variable-form, dynamically coupled robot [8,9] , which solves the quandary of needing a large shape for aerial flight, but a small one for driving on land, albeit with the addition of more drives [10][11][12][13] . The fourth type is a variable-form and dynamically decoupled robot [14,15] , with fewer drives and a reduced overall weight, while still solving the shape issue.…”

Section: Introductionmentioning

confidence: 99%

An active coupled multimodal robot: design, modeling and simulation

Luo

Zhang

et al. 2023

Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023)

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This paper proposes an innovative active coupled multimodal robot (ACMR). The unique modal conversion mechanism and active coupled mechanism of ACMR enable the robot to have two types of motion actuators, propeller and wheel, which can move smoothly and efficiently in both the air and on the ground while only using a set of brushless motor drive source. The modal conversion mechanism adopts a turbine worm drive, which facilitates the adjustment of arbitrary whirling arm shapes ranging from 0-90° and allows maintenance without power. The changes in the wheel touchdown timing, robot width, and worm driving torque during the conversion from flight mode to driving mode are theoretically deduced and simulated. The active coupled mechanism employs the combination of a planetary gear train and gear rack mechanism to achieve the active coupling between the three-claw coupler and the propeller. The kinematic relationship between the descending distance of the coupled claw and the modal conversion angle is analyzed, and the maximum descending distance is obtained.

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Section: Introductionmentioning

confidence: 99%

An active coupled multimodal robot: design, modeling and simulation

Luo

Zhang

et al. 2023

Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023)

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“…Various approaches have been proposed to address this problem. In [5], a cascaded PID control architecture was inner/outer loop flight control laws for stabilisation of aircraft attitude with time-scale separation, so that the closed loop pitch dynamics are much faster than those of the desired flight path and tiltwing actuation. Consequently the pitch angle 𝜃 (defined here as the angle of the fuselage axis from horizontal earth plane) is assumed to be maintained at all times by the attitude control loop at a constant reference angle 𝜃 𝑟 = 0.…”

Section: Introductionmentioning

confidence: 99%

Fast optimal trajectory generation for a tiltwing VTOL aircraft with application to urban air mobility

Doff-Sotta

Cannon

Bacic

2022

2022 American Control Conference (ACC)

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This paper investigates robust tube-based Model Predictive Control (MPC) of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft subject to wind disturbances and model uncertainty. Our approach is based on a Difference of Convex (DC) function decomposition of the dynamics to develop a computationally tractable optimisation with robust tubes for the system trajectories. We consider a case study of a VTOL aircraft subject to wind gusts and whose aerodynamics is defined from data.

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“…The integration is presented for fixedwing UAVs (i.e. the ArduPlane module of ArduPilot), but we expect that a similar integration is possible for any aerial or non-aerial vehicles for which ArduPilot or PX4 have been thought, such as spherical robots and hybrid rolling/flying systems [16], [17]. In fact, all these modules rely on a similar cascaded linear control architecture, which is amenable to the proposed adaptive solution.…”

Section: Introductionmentioning

confidence: 99%

Embedding Adaptive Features in the ArduPilot Control Architecture for Unmanned Aerial Vehicles

Liu

Xia

Baldi

2022

2022 IEEE 61st Conference on Decision and Control (CDC)

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The operation of Unmanned Aerial Vehicles (UAVs) is often subject to state-dependent alterations and unstructured uncertainty factors, such as unmodelled dynamics, environmental weather disturbances, aerodynamics gradients, or changes in inertia and mass due to payloads. While a large number of autopilot solutions have been proposed to operate UAVs, none of these solutions is able to counteract the effects of state-dependent and unstructured uncertainties online by parameter estimation and adaptive control techniques. This work presents a systematic integration of adaptive control into ArduPilot, a popular open-source autopilot suite maintained by a large community of UAV developers. Adaptation features are embedded in the ArduPilot control structure without altering the original architecture, to allow users to use the autopilot suite as usual. Tests show that the proposed adaptive ArduPilot provides consistent improved performance in several uncertain flight conditions. The source code of the proposed adaptive ArduPilot is released at https://github.com/ Friend-Peng/Adaptive-ArduPilot-Autopilot.

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Modeling and Control of a Passively-Coupled Tilt-Rotor Vertical Takeoff and Landing Aircraft

Cited by 19 publications

References 22 publications

An active coupled multimodal robot: design, modeling and simulation

An active coupled multimodal robot: design, modeling and simulation

Fast optimal trajectory generation for a tiltwing VTOL aircraft with application to urban air mobility

Embedding Adaptive Features in the ArduPilot Control Architecture for Unmanned Aerial Vehicles

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