A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight

Zhou, Jianshe; Lyu, Ximin; Li, Zigang; Shen, Shaojie; Fu, Zhang

doi:10.1109/iros.2017.8206359

Cited by 40 publications

(35 citation statements)

References 21 publications

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“…The control authority of the vehicle is relatively low in pitch axis as the moment arm of the aerodynamic force generated by the flaps is small. On the other hand, a quadrotor tailsitter, such as monoplane type [3] or biplane type [4,5,6,7] (Fig. 1), generates rolling and pitching moment with differential thrust and therefore has good control authority about these axes.…”

Section: Introductionmentioning

confidence: 99%

Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor

Raj

Banavar

Abhishek

et al. 2020

Journal of Guidance, Control, and Dynamics

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This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in conventional biplane quadrotor tailsitters by proposing a new design wherein two wings with two attached propellers are joined together with a rod through a swivel mechanism. The yaw torque is generated by relative rotation of the thrust vector of each wing. The unique design of this configuration having two rigid bodies interconnected through a rod with zero torsional rigidity makes the vehicle underactuated in the attitude configuration manifold. An output tracking problem is posed which results in a single equivalent rigid body attitude tracking problem with second order moment dynamics. The proposed controller is uniformly valid for all attitudes and is based on dynamic feedback linearization in a geometric control framework. Almost-global asymptotic stability of the desired equilibrium of the tracking error dynamics is shown. The efficacy of the controller is shown with numerical simulation and flight tests.

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Section: Introductionmentioning

confidence: 99%

Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor

Raj

Banavar

Abhishek

et al. 2020

Journal of Guidance, Control, and Dynamics

View full text Add to dashboard Cite

show abstract

“…Furthermore, the transition flight control problem is more challenging for tail‐sitters because of aggressive maneuvers involved in the flight mode transitions. Proportional‐integral‐derivative controllers were implemented to achieve the tracking control for tail‐sitters in transition maneuvers . However, the effects of uncertainties and external disturbances were not further analyzed in the controller design .…”

Section: Introductionmentioning

confidence: 99%

“…Proportional‐integral‐derivative controllers were implemented to achieve the tracking control for tail‐sitters in transition maneuvers . However, the effects of uncertainties and external disturbances were not further analyzed in the controller design . Linear quadratic regulation (LQR) controllers were designed to achieve the trajectory tracking control for tail‐sitters .…”

Section: Introductionmentioning

confidence: 99%

“…transition maneuvers. 18,19 However, the effects of uncertainties and external disturbances were not further analyzed in the controller design. 18,19 Linear quadratic regulation (LQR) controllers were designed to achieve the trajectory tracking control for tail-sitters.…”

Section: Introductionmentioning

confidence: 99%

“…18,19 However, the effects of uncertainties and external disturbances were not further analyzed in the controller design. 18,19 Linear quadratic regulation (LQR) controllers were designed to achieve the trajectory tracking control for tail-sitters. 20,21 A hierarchical control method was studied to address the trajectory tracking problem of the unmanned tail-sitters.…”

Section: Introductionmentioning

confidence: 99%

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Robust trajectory tracking control for unmanned tail‐sitters in aggressive flight mode transitions

Liu

Lewis

2019

Intl J Robust & Nonlinear

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Summary In this paper, the trajectory tracking control problem is investigated for a new typical tail‐sitter. A robust hierarchical control method is proposed to achieve aggressive flight mode transitions. The proposed control method results in a composite controller including a translational controller and a rotational controller to control the position and attitude respectively. Continuous aggressive flight mode transitions can be achieved without switching on the coordinate systems or the controller structures. It is proven that the tracking errors of the designed closed‐loop system can converge into a given neighborhood of the origin in a finite time. Simulation results show the effectiveness of the proposed control strategy.

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Toward a gliding hybrid aerial underwater vehicle: Design, fabrication, and experiments

Lyu

Xiong

et al. 2022

Journal of Field Robotics

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The hybrid aerial underwater vehicle (HAUV) merges the best of unmanned aerial vehicle (UAV) and unmanned underwater vehicle into one platform makes it possible to operate in both the air and water. Various possible applications of HAUV have aroused much research on it. However, the underwater endurance and operation depth of current HAUVs are still limited. This hinders the application and popularization of HAUV in rugged environments. This paper presented the design, fabrication, and testing of a novel concept HAUV, Nezha III. It is featured by its piston-driven underwater glide strategy and combination of an underwater glider and fixed-wing vertical takeoff and landing aircraft. In-depth design and evaluation of the amphibious wings with tradeoffs between aerodynamic and hydrodynamic performance in both fluids was conducted. The vehicle prototype was built, and field experiments, including domain transitions and underwater operations, were conducted in Qiandao Lake, China. Due to the experiment site constraints, the computational fluid dynamics technique evaluated horizontal flight performance with fixed wings. The experimental results show that the prototype can realize rotor flight and stable domain transitions. Moreover, this piston-driven underwater glide strategy extended the HAUV's underwater endurance over 24 h and operational depth to 25.5 m. To the best of our knowledge, Nezha III possesses the most extended underwater endurance among existing HAUVs.

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A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight

Cited by 40 publications

References 21 publications

Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor

Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor

Robust trajectory tracking control for unmanned tail‐sitters in aggressive flight mode transitions

Toward a gliding hybrid aerial underwater vehicle: Design, fabrication, and experiments

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