Modeling and Control of a Convertible Mini-UAV

Abstract

The aim of this paper is to present a UAV's configuration that combines the manoeuvrability of a rotary wing vehicle (helicopter) such as slow forward displacement, vertical take off and landing, and the performance of a fixed wing vehicle (plane) such as fast forward movement, long reach and superior endurance.

Modeling of an unmanned hybrid aerial vehicle

“…In the last few years, there has been an increased interest in a third category of vehicles, which tries to combine advantages of both rotary-wing and fixed-wing vehicles. These so-called "convertible UAVs" are typically composed of propellers allowing for vertical take-off and wings for energy efficiency in cruising flight [5], [12], [1], [7].…”

Modeling and control of a tilt tri-rotor airplane

“…are respectively the lift force and the drag force created by slipstream with i = al, ar, e, r (left aileron, right aileron, elevator and rudder); ρ is the density of air; C We have used the same analysis as in [1] and aerodynamics formulas in [9].…”

“…Then a trajectory generation algorithm must be used for optimum motion control. We have used the same motion profile algorithm that controls the speed and acceleration as in [1].…”

“…More longitudinal dynamic simulation results are found in [6], in which nonlinear approaches are used for the autonomous transition of two vertical/short take-off and landing aircraft (a fixed-wing fighter equipped with a vectored thrust and lift fan and a tilt rotor). In [1], we proposed a convertible tail-sitter UAV which has the capability of transition between the vertical and horizontal flight. However, in order to make a transition, the whole fuselage of the convertible airplane must rotate to the horizontal.…”

Development of an autonomous unmanned aerial vehicle specification of a fixed-wing vertical takeoff and landing aircraft

“…Other types of tailsitters are aircraft with more than one propeller that rotate in opposite directions, with two motors in the main wings (STONE et al, 2008;KUBO;SUZUKI, 2008;BAPST et al, 2015;D'ANDREA, 2017;VERLING et al, 2016), with two motors aligned with the lateral or longitudinal axes of the aircraft body frame (ESCARENO et al, 2008;LOZANO, 2011) or with four motors symmetrically aligned in the main wings (SINHA et al, 2012;OOSEDO et al, 2013;ZHOU et al, 2017). Fewer works propose tailsitter UAVs with only one propeller (BILODEAU; WONG, 2010; KITA; KONNO; UCHIYAMA, 2010).…”