Hovering Control of a Tail-Sitter VTOL Aerial Robot

Kita, Koichi; Konno, Atsushi; Uchiyama, Masaru

doi:10.20965/jrm.2009.p0277

Cited by 26 publications

(5 citation statements)

References 9 publications

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“…Such an architecture is formalized in past literature [15,16]. In this configuration, pitch δ p and yaw δ y are used directly to navigate the vehicle to a location via an outer navigation loop θ c ; ψ c .…”

Section: Vertical Segmentmentioning

confidence: 99%

Transitional Control Architecture and Methodology for a Twin Rotor Tailsitter

Forshaw

Lappas

Briggs

2014

Journal of Guidance, Control, and Dynamics

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Nomenclature B = body frame B cm = center of mass of the vehicle in B e = error, generic F ai = aerodynamic forces for axis i, expressed in B, N F gi = gravity forces for axis i, expressed in B, N F pi = propulsive forces for axis i, expressed in B, N h = altitude, m I = inertial frame M ai = aerodynamic moments about axis i at B cm , expressed in B, N · m M pi = propulsive moments about axis i at B cm , expressed in B, N · m p, q, r = angular rate, deg ∕s t p = transitioning period, time taken to transition, s u, v, w = velocity of B cm with respect to I, expressed in B, m∕s u c = velocity setpoint command, m∕s v c0= horizontal cruise speed, m∕s α, β = angle of attack, sideslip angle, deg δ c , δ w = thrust, collective, rpm commands δ e , δ a = elevator (via elevon), aileron (via elevon) deflection commands δ r , δ p , δ y = roll, pitch, yaw commands, from twin rotors δ tr = transition coordinator command ϵ = setpoint smoothness η = setpoint sampling frequency, Hz θ c = pitch setpoint command, deg ϕ, θ, ψ = Euler angles, deg ϕ v , θ v , ψ v = vertical Euler angles, deg

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Section: Vertical Segmentmentioning

confidence: 99%

Transitional Control Architecture and Methodology for a Twin Rotor Tailsitter

Forshaw

Lappas

Briggs

2014

Journal of Guidance, Control, and Dynamics

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“…Tail-sitter aircrafts have been extensively studied for its simple and effective flight mode transition. Stone studied the T-Wing, which has a canard wing and tandem rotors [8]. Kita developed a simple tail-sitter VTOL UAV with a single propeller R/C airplane [9].…”

Section: Introductionmentioning

confidence: 99%

Design of a Symmetrical Quad-rotor Biplane Tail-Sitter Aircraft without Control Surfaces and Experimental Verification

et al. 2018

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This paper presents the design of a symmetrical quad-rotor biplane tail-sitter VTOL UAV (Vertical Take-off and Landing Unmanned Aerial Vehicle) which is composed of four rotors and two symmetrically mounted fixed wings. This aircraft achieves high accuracy in the attitude control and smooth flight mode transition with four rotors rather than the conventional VTOL UAVs using control surfaces. The proposal of angled rotor mounting is adopted to address the issue of insufficient yaw control authority. The layout of symmetrically mounted fixed wings makes the aircraft have capability of rapid bidirectional flight mode transition to improve maneuverability. To validate the performance of the aircraft, simulation and flight experiments are both implemented. These results show that the aircraft has a rapid yaw response under condition of the stable attitude control. In comparative experiment, it is shown that the aircraft is more flexible than other similar configuration of aircrafts. This symmetrical quad-rotor biplane tail-sitter VTOL UAV will have a wide range of potential applications in the military and civilian areas due to its superior performance..

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“…Assuming the exploration and observation at disaster sites, it is difficult to secure the airfield, therefore, a new flying machine is desired that has both feature of the rotorcraft for vertical take-off and landing (VTOL) and fixed-wing aircraft for wide range of flight. There are many kind of VTOL (2) . It is well known that the tilt rotor system and tail-sitter aircraft.…”

Section: Introductionmentioning

confidence: 99%

Trial Production of Variable Pitch Wing Attached Multicopter for Power Saving and Long Flight

Hayama¹,

Ohtsuka²,

Irie³

2017

Proceedings of the 5th IIAE International Conference on Industrial Application Engineering 2017

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The trial production of a new concept vertical take-off and landing (VTOL) aircraft based on variable pitch wing attached multicopter was carried out for aerial, observation and research. Continuous transition from multicopter to similar to fixed-wing aircraft can be done with adjusting suitable angle of attack of the wing of multicopter. The proposed rotorcraft can obtain the lift of wing during horizontal flight, and its causes the reduction of power consumption and extend the flight area. The demonstration experimental rotorcrafts with variable pitch wing multicopter based on the Y3 tricopter and Y6 hexacopter are also presented.

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Hovering Control of a Tail-Sitter VTOL Aerial Robot

Cited by 26 publications

References 9 publications

Transitional Control Architecture and Methodology for a Twin Rotor Tailsitter

Transitional Control Architecture and Methodology for a Twin Rotor Tailsitter

Design of a Symmetrical Quad-rotor Biplane Tail-Sitter Aircraft without Control Surfaces and Experimental Verification

Trial Production of Variable Pitch Wing Attached Multicopter for Power Saving and Long Flight

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