Modeling and controller design of a VTOL UAV

Onen, Anil Sami; Cevher, Levent; Senipek, Murat; Mutlu, Talha; Gungor, Osman Erman; Uzunlar, Ismail Ozdemir; Kurtuluş, Dilek Funda; Tekinalp, Ozan

doi:10.1109/icuas.2015.7152307

Cited by 14 publications

(6 citation statements)

References 3 publications

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“…The general flight principle of any UAV states that the gravitational, inertial and aerodynamic forces and moments are mutually perpendicular about three axes. The UAV is said to be trimmed (resultant forces and moments acting on the that particular vehicle are zero), when these forces are kept balanced all the times (Onen et al , 2015). More specifically, the trim is a condition where the aerodynamic state variables rates are zero (nullifying the aerodynamic variable derivatives), also called as equilibrium point.…”

Section: Proposed Mathematical Modeling Of the Autonomous Vertical Take-off And Landing Quad Tiltrotor Unmanned Aerial Vehiclementioning

confidence: 99%

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Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

Hegde

George

Nayak

et al. 2021

IJIUS

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PurposeThis paper aims to provide a mathematical modeling and design of H-infinity controller for an autonomous vertical take-off and landing (VTOL) Quad Tiltrotor hybrid unmanned aerial vehicles (UAVs). The variation in the aerodynamics and model dynamics of these aerial vehicles due to its tilting rotors are the key issues and challenges, which attracts the attention of many researchers. They carry parametric uncertainties (such as non-linear friction force, backlash, etc.), which drives the designed controller based on the nominal model to instability or performance degradation. The controller needs to take these factors into consideration and still give good stability and performance. Hence, a robust H-infinity controller is proposed that can handle these uncertainties.Design/methodology/approachA unique VTOL Quad Tiltrotor hybrid UAV, which operates in three flight modes, is mathematically modeled using Newton–Euler equations of motion. The contribution of the model is its ability to combine high-speed level flight, VTOL and transition between these two phases. The transition involves the tilting of the proprotors from 90° to 0° and vice-versa in 15° intervals. A robust H-infinity control strategy is proposed, evaluated and analyzed through simulation to control the flight dynamics for different modes of operation.FindingsThe main contribution of this research is the mathematical modeling of three flight modes (vertical takeoff–forward, transition–cruise-back, transition-vertical landing) of operation by controlling the revolutions per minute and tilt angles, which are independent of each other. An autonomous flight control system using a robust H-infinity controller to stabilize the mode of transition is designed for the Quad Tiltrotor UAV in the presence of uncertainties, noise and disturbances using MATLAB/SIMULINK. This paper focused on improving the disturbance rejection properties of the proposed UAV by designing a robust H-infinity controller for position and orientation trajectory regulation in the presence of uncertainty. The simulation results show that the Tiltrotor achieves transition successfully with disturbances, noise and uncertainties being present.Originality/valueA novel VTOL Quad Tiltrotor UAV mathematical model is developed with a special tilting rotor mechanism, which combines both aircraft and helicopter flight modes with the transition taking place in between phases using robust H-infinity controller for attitude, altitude and trajectory regulation in the presence of uncertainty.

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Section: Proposed Mathematical Modeling Of the Autonomous Vertical Take-off And Landing Quad Tiltrotor Unmanned Aerial Vehiclementioning

confidence: 99%

“…), which is not able to be modeled accurately. Many control algorithms based on robust and adaptive control theory in the literature were proposed to handle uncertain non-linear dynamics (Onen et al , 2015).…”

Section: Design and Evaluation Of Proposed Robust H-infinity Controller For Vertical Take-off And Landing Quad Tiltrotor Unmanned Aerial mentioning

confidence: 99%

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

Hegde

George

Nayak

et al. 2021

IJIUS

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“…The velocity of the propeller slipstream is calculated using (11) which is given in [21]. The equation assumes that as propeller thrust increases, so does induced velocity through the propeller disk.…”

Section: Aerodynamic Analysismentioning

confidence: 99%

“…However, since the backward wing is influenced by the front wing's down-wash, the aerodynamic performance suffers. Onen et al [11] realized hover for a tri-copter fixed-wing UAV configuration in another report. The method of transition used in switching the aircraft between flight modes is the key difference in these experimental VTOL platform studies.…”

Section: Introductionmentioning

confidence: 99%

Design and Aerodynamic Analysis of a VTOL Tilt-Wing UAV

2021

Turk J Elec Eng & Comp Sci

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The aerodynamic design and analysis of an Unmanned Air Vehicle, capable of vertical take-off and landing by employing fixed four rotors on the tilt-wing and two rotors on the tilt-tail, will be presented in this study. Both main wing and the horizontal tail can be tilted 90°. During VTOL, transition and forward flight, aerodynamic and thrust forces have been employed. Different flight conditions, including the effects of angle of attack, side slip, wing tilt angle and control surfaces deflection angle changes, have been studied with CFD analysis. For a Tilt-Wing UAV, there are challenges like high non-linearity, vulnerability to disturbances during hover and transition, cross-coupling between three axes, very low time to double amplitude of the open-loop system. Therefore, the aerodynamic analysis has been done in detail considering especially the challenges in transition phase of the flight envelope.

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“…In recent years the combinations of these 2 categories are proposed to overcome the demerit of each category such as tilt-rotor and tail-sitter. The tilt-rotor vehicle which is a fixed-wing combines with a quadrotor [1] and with a tri-rotor [2] must has a tilting mechanism to change the direction of thrust of rotor. But the tilting mechanism is always used only in takeoff and landing then it becomes just a weight in cruising.…”

Section: Introductionmentioning

confidence: 99%

An approach of wing attachment to improve endurance of quadrotor

Ruangwiset

2016

2016 Second Asian Conference on Defence Technology (ACDT)

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The unmanned aerial vehicle (UAV) configuration which combines the wing-body and the quadrotor with a small installation pitching angle between each other is proposed in this work in the aim to decrease the power consumption of vertical takeoff and landing (VTOL) quad rotor in cruising flight. The wind tunnel test is performed to measure the lift coefficient of the experimental vehicle. And the result is used to calculate the decreasing of battery current consumption. The example calculation shows only a little effect in decreasing battery current consumption. However the effect will increase if the wing area increases.

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Modeling and controller design of a VTOL UAV

Cited by 14 publications

References 3 publications

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

Design and Aerodynamic Analysis of a VTOL Tilt-Wing UAV

An approach of wing attachment to improve endurance of quadrotor

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