Design and simulation of a quad rotor tail-sitter unmanned aerial vehicle

Oosedo, Atsushi; Konno, Atsushi; Matumoto, Takaaki; Go, Kenta; Masuko, Kouji; Abiko, Satoko; Uchiyama, Masaru

doi:10.1109/sii.2010.5708334

Cited by 7 publications

(6 citation statements)

References 5 publications

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“…Figure 17 also shows that increasing the throttle as the vehicle exits water induces a sudden decrease in battery voltage ( U b ) and increase in current ( I ). The energy consumption during the water‐exit stage is significant with increasing P , and both P and I subsequently decrease as the vehicle switches from large α climbing to level flight, similar to those of the tail‐sitting UAV launches (Oosedo et al, 2010).…”

Section: Implementation Test and Performance Of The Uauvmentioning

confidence: 76%

See 1 more Smart Citation

Lifting‐principle‐based design and implementation of fixed‐wing unmanned aerial–underwater vehicle

Wei

Teng

Meng³

et al. 2022

Journal of Field Robotics

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This paper presents the implementation of a novel proof‐of‐concept design of a fixed‐wing unmanned aerial–underwater vehicle (UAUV). The UAUV is designed on the basis of the lifting principle and has an overall density between those of water and air. During air flight, fixed‐wings are deployed to create lift to overcome gravity, similar to ordinary fixed‐wing aircraft. Moreover, the fixed‐wings generate sufficient downward lift to overcome the large net buoyancy (FB), allowing the vehicle to dive during underwater cruising. Owing to the lack of buoyancy regulation and emergency load rejection systems, the proposed UAUV is relatively simpler than those of ordinary autonomous underwater vehicles or other UAUVs. Water exit of the proposed UAUV is driven by a combination of inertial and tractor propellers in conjunction with FB, which allows smooth maneuverability during water‐to‐air transition. A series of successful water‐exit tests are used to demonstrate that the proposed UAUV can rapidly exit from water with a wide range of pitch angles, indicating strong survival capability in the future bad sea condition. This paper presents the proof‐of‐concept, including the lifting‐based principle, general design, avionics and propulsion systems, and field tests in both air and water. The vehicle performance for endurance, duration, flight speed, attitudes during water‐to‐air transitions, and landing on the water surface are also analyzed and discussed.

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Section: Implementation Test and Performance Of The Uauvmentioning

confidence: 76%

“…Figures 14 and 15 As shown in Figure 17b, the throttle should be increased to the maximum range when the propellers approach the water surface to allow the vehicle to obtain a higher velocity for exiting water and avoiding a fall due to gravity. UAV launches (Oosedo et al, 2010).…”

Section: Principle Of Water Exitmentioning

confidence: 99%

Lifting‐principle‐based design and implementation of fixed‐wing unmanned aerial–underwater vehicle

Wei

Teng

Meng³

et al. 2022

Journal of Field Robotics

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“…A mathematical model of the quadrotor tail-sitter UAV is developed using the Newtonian or Lagrangian approach. As per [31], for u, v and w as the X, Y and Z directional body-axis velocities, and p, q and r as the angular velocities, the flight dynamics arė…”

Section: Problem Formulationmentioning

confidence: 99%

Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

et al. 2021

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The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. The hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits of both rotary-wing aircraft and fixed-wing aircraft. However, the vehicle requires a robust controller for takeoff, landing, transition, and hovering modes because the aerodynamic parameters differ in those modes. We consider a nonlinear observer-based backstepping controller in the control design and provide stability analysis for handling parameter variations and external disturbances. We carry out simulations in MATLAB Simulink which show that the nonlinear observer contributes more to robustness and overall closed-loop stability, considering external disturbances in takeoff, hovering and landing phases. The backstepping controller is capable of decent trajectory-tracking during the transition from hovering to level flight and vice versa with nominal altitude drop.

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“…The transition process of the quadrotor tail-sitter UAV between hover and level flight modes presents a new challenge to the flight control system. 17–20 Wide speed range, variable operating conditions, high angle of attack and high maneuverability make the adjustment of control parameters complicated. In different flight mode especially in transition, the nonlinear characteristics are very obvious and the traditional linear small disturbance theory is not applicative anymore.…”

Section: Controlmentioning

confidence: 99%

Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles

Xin

Wang

Gao

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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The tail-sitter unmanned aerial vehicles have the advantages of multi-rotors and fixed-wing aircrafts, such as vertical takeoff and landing, long endurance and high-speed cruise. These make the tail-sitter unmanned aerial vehicle capable for special tasks in complex environments. In this article, we present the modeling and the control system design for a quadrotor tail-sitter unmanned aerial vehicle whose main structure consists of a traditional quadrotor with four wings fixed on the four rotor arms. The key point of the control system is the transition process between hover flight mode and level flight mode. However, the normal Euler angle representation cannot tackle both of the hover and level flight modes because of the singularity when pitch angle tends to [Formula: see text]. The dual-Euler method using two Euler-angle representations in two body-fixed coordinate frames is presented to couple with this problem, which gives continuous attitude representation throughout the whole flight envelope. The control system is divided into hover and level controllers to adapt to the two different flight modes. The nonlinear dynamic inverse method is employed to realize fuselage rotation and attitude stabilization. In guidance control, the vector field method is used in level flight guidance logic, and the quadrotor guidance method is used in hover flight mode. The framework of the whole system is established by MATLAB and Simulink, and the effectiveness of the guidance and control algorithms are verified by simulation. Finally, the flight test of the prototype shows the feasibility of the whole system.

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Design and simulation of a quad rotor tail-sitter unmanned aerial vehicle

Cited by 7 publications

References 5 publications

Lifting‐principle‐based design and implementation of fixed‐wing unmanned aerial–underwater vehicle

Lifting‐principle‐based design and implementation of fixed‐wing unmanned aerial–underwater vehicle

Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles

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