Transition flight modeling and control of a novel tilt tri-rotor UAV

Yu, Li; Zhang, Daibing; Zhang, Jiyang

doi:10.1109/icinfa.2017.8079045

Cited by 16 publications

(5 citation statements)

References 11 publications

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“…When the motor starts to rotate in its tilting axis, it produces horizontal force, which is proportional to the tilting angle. Hence the lift, drag and the moments effects the UAV body (Yuksek et al , 2016; Yu et al , 2017).…”

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

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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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%

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 research carried out here focuses on designing a control algorithm for a VTOL Tilt-Rotor UAV with high agility and capability. Therefore, there is a requirement to develop a new and advanced flight control system that maintains the stability of the system (Yu et al , 2017; Ta et al , 2012).…”

Section: State Of the Art In Hybrid Uavs Designmentioning

confidence: 99%

Design, dynamic modelling and control of tilt-rotor UAVs: a review

Hegde¹,

George²,

Nayak³

et al. 2019

IJIUS

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Purpose The purpose of this paper is to give reviews on the platform modeling and design of a controller for autonomous vertical take-off and landing (VTOL) tilt rotor hybrid unmanned aerial vehicles (UAVs). Nowadays, UAVs have experienced remarkable progress and can be classified into two main types, i.e. fixed-wing UAVs and VTOL UAVs. The mathematical model of tilt rotor UAV is time variant, multivariable and non-linear in nature. Solving and understanding these plant models is very complex. Developing a control algorithm to improve the performance and stability of a UAV is a challenging task. Design/methodology/approach This paper gives a thorough description on modeling of VTOL tilt rotor UAV from first principle theory. The review of the design of both linear and non-linear control algorithms are explained in detail. The robust flight controller for the six degrees of freedom UAV has been designed using H-infinity optimization with loop shaping under external wind and aerodynamic disturbances. Findings This review will act as a basis for the future work on modeling and control of VTOL tilt rotor UAV by the researchers. The development of self-guided and fully autonomous UAVs would result in reducing the risk to human life. Civil applications include inspection of rescue teams, terrain, coasts, border patrol buildings, police and pipelines. The simulation results show that the controller achieves robust stability, good adaptability and robust performance. Originality/value The review articles on quadrotors/quadcopters, hybrid UAVs can be found in many literature, but there are comparatively a lesser amount of review articles on the detailed description of VTOL Tilt rotor UAV. In this paper modeling, platform design and control algorithms for the tilt rotor are presented. A robust H-infinity loop shaping controller in the presence of disturbances is designed for VTOL UAV.

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“…Israel Aircraft Industries has developed the Panther UAV, the first successful TTR UAV globally (Yu et al, 2017). The panther UAV has a blend of tri-rotor and the flying wingfuselage, which recently has increased admiration.…”

Section: Introductionmentioning

confidence: 99%

Design, modeling and simulation of a control surface-less tri-tilt-rotor UAV

Annamalai

Thunaipragasam

2021

AEAT

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Purpose The purpose of this study is to design a flight control model for a control surface-less (CSL) tri-tilt-rotor (TTR) unmanned aerial vehicle (UAV) based on a Proportional Integral Derivative (PID) controller to stabilize the altitude and attitude of the UAV subjected to various flying conditions. Design/methodology/approach First, the proposed UAV with a tilting mechanism is designed and analyzed to obtain the aerodynamic parameters. Second, the dynamics of the proposed UAV are mathematically modeled using Newton-Euler formation. Then, the PID controller is implemented in the simulation model to control flight maneuvers. The model parameters were implemented in a mathematical model to find the system’s stability for various flight conditions. The model was linearized to determine the PID gain values for vertical take-off and landing, cruise and transition mode. The PID controller was tuned to obtain the desired altitude and attitude in a short period. The tuned PID gain values were implemented in the PID controller and the model was simulated. Findings The main contribution of this study is the mathematical model and controller for a UAV without any control surface and uses only a thrust vector control mechanism which reduces the complexity of the controller. The simulation has been carried out for various flight conditions. The altitude PID controller and the attitude PID controller for CSL-TTR-UAV were tuned to obtain desired altitude and attitude within the optimum duration of 4 s and deviation in the attitude of 8%, which is within the allowable limit of 14%. The findings obtained from the simulation revels that the altitude and attitude control of the CSL-TTR-UAV was achieved by controlling the rpm of the rotor and tilt angle using the PID controller. Originality/value A novel CSL TTR UAV mathematical model is developed with a dual tilting mechanism for a tail rotor and single axis tilt for the rotors in the wing. The flight control model controls the UAV without a control surface using a PID controller for the thrust vector mechanism.

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Transition flight modeling and control of a novel tilt tri-rotor UAV

Cited by 16 publications

References 11 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, dynamic modelling and control of tilt-rotor UAVs: a review

Design, modeling and simulation of a control surface-less tri-tilt-rotor UAV

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