Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor

Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

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“…Recently, Raj et al proposed a dynamic feedback linearisation-based strategy in Ref. (68) for attitude control of a transformable quadrotor UAV.…”

Section: Control Reviewmentioning

confidence: 99%

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021

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“…In order to control the attitude in two flight modes using one single controller, a singularity-free expression method for attitude is necessary. The Euler angles representation method with common Yaw-Pitch-Roll rotation order is singular (Gimbal Lock [33]) when the pitch angle is equal to 90°, which is not suitable for the tail-sitter 's transition flight. Therefore, Yaw-Roll-Pitch sequence rotation matrix is adopted to represent the attitude.…”

Section: A Coordinates and Rotation Matrixmentioning

confidence: 99%

“…Conventional rotation matrix with Yaw-Pitch-Roll order is singular when the pitch angle is 90°. Using the Yaw-Roll-Pitch order rotation matrix can solve this problem easily and it is simple to understand [22]. As for the control problem for tail-sitter, variety of controllers are studied by different researchers.…”

Section: Introductionmentioning

confidence: 99%

Transition Flight Control and Simulation of a Novel Tail-Sitter UAV With Varying Fuselage Shape

et al. 2021

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This article studies the model, control and simulation on transition flight of a novel tail-sitter with vertical takeoff and landing capability. The proposed tail-sitter adopts an innovative varying fuselage shape design to break the technical bottleneck in the balance of efficient horizontal flight and agile vertical flight. Overset grids and computational fluid dynamic methods are used to explore the vehicle's prestall aerodynamics, which are relative to not only the angle of attack and sideslip angle but also to the varying angle between two rear fuselage's parts. High angle of attack aerodynamics based on the improved Viterna and Corrigan stall model is also established for this novel tail-sitter. Meanwhile, an accurate model of the propeller is tested in a wind tunnel. Combining the forces and moments generated by propellers, aerodynamics and gravity, a 6DoF nonlinear timevarying dynamic model is built. A robust controller based on incremental dynamic inversion method is designed for this tail-sitter, which is good at dealing with uncertainties and external forces. Nominal and model mismatch conditions are simulated to verify the controller's performance. Different varying strategies for the mechanism are analyzed during the transition flight. Simulation results show that this novel tail-sitter can transform between vertical and horizontal flight mode easily and the varying strategy related to pitch angle is a prior choice for transition flight. INDEX TERMSNovel tail-sitter; Varying fuselage shape; Transition flight; Incremental nonlinear inversion method; Vertical takeoff and landing.

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“…Pergerakan dasar pesawat tail-sitter ini mengacu pada pergerakan sumbu 3 derajat yang dikenal dengan pergerakan sikap roll, pitch, dan yaw [15], [16]. Gambar 3 merupakan ilustrasi dari pergerakan dasar pesawat tanpa awak tail-sitter.…”

Section: Tail-sitterunclassified

Implementasi dan Uji Kinerja Kontrol PID untuk kestabilan Pesawat Tanpa Awak Tailsitter pada Keadaan Mengambang

Nizar¹,

Jatmiko²,

Hartono³

et al. 2021

Komputika

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Pesawat tailsitter adalah pesawat tanpa awak yang dapat lepaslandas secara vertikal. salah satu faktor keberhasilan terbang pesawat tanpa awak tailsiter adalah kestabilan pada saat lepaslandas hingga mengambang atau hovering sebelum transisi untuk terbang secara horizontal. Yang dimaksud dengan kestabilan pada topik ini adalah pesawat tanpa awak tailsitter harus dapat mempertahankan posisi nya pada tiga sumbu sudut pergerakan yaitu sumbu pergerakan Roll, Pitch, dan Yaw, dimana pesawat tanpa awak tailsitter dapat dikatakan stabil jika ketiga sumbu pergerakan Roll, Pitch dan Yaw bernilai 0 dalam satuan derajat. salah satu masalah yang dapat mengganggu kestabilan pada pesawat tanpa awak tailsitter adalah adanya ketidakseimbangan pada aktuator seperti putaran motor dan pergerakan servo stabilizer. Untuk mengatasi masalah tersebut diperlukan sebuah teknik pengendalian pada aktuator tersebut agar pesawat tanpa awak tailsitter stabil. Metode pengendalian yang akan digunakan adalah kontrol PID. Proses pengendalian oleh PID ini membutuhkan sebuah sensor IMU yang dapat membaca pergerkan dan perubahan sudut pada pesawat tanpa awak tailsitter. Dari hasil pengujian dan analisa pemberian parameter Kp : 2,5, Ki : 0,250, dan Kd : 23 untuk kendali Pitch dan Roll memerikan hasil yang cukup baik, dimana pesawat tanpa awak tailsitter dapat terbang dan mempertahankan kesetabilan nya pada saat fase mengambang/hovering.

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Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor

Cited by 23 publications

References 22 publications

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

Transition Flight Control and Simulation of a Novel Tail-Sitter UAV With Varying Fuselage Shape

Implementasi dan Uji Kinerja Kontrol PID untuk kestabilan Pesawat Tanpa Awak Tailsitter pada Keadaan Mengambang

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