Modeling of an unmanned hybrid aerial vehicle

Ducard, Guillaume; Hua, Minh‐Duc

doi:10.1109/cca.2014.6981467

Cited by 24 publications

(13 citation statements)

References 9 publications

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“…The approach presented here is based on classical propeller modeling for helicopters [24]. The modeling of the propeller lift and drag coefficients is based on [31,40].…”

Section: Rotor Model: Bemmentioning

confidence: 99%

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NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Bauersfeld

Kaufmann

Foehn

et al. 2021

Robotics: Science and Systems XVII

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Fig. 1: Long-exposure images depicting quadrotor trajectory tracking at speeds up to 65 km/h in a large-scale motion-capture system. The captured data is used to fit a hybrid quadrotor model combining blade-element-momentum (BEM) theory with a neural network compensating residual dynamics. This hybrid model reproduces the flown trajectories in simulation with a positional RMSE error reduction of over 50% compared to state-of-the-art.

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“…The approach presented here is based on classical propeller modeling for helicopters [24]. The modeling of the propeller lift and drag coefficients is based on [31,40].…”

Section: Rotor Model: Bemmentioning

confidence: 99%

“…where c(r) is the chord length and c l (α), c d (α) are the angleof-attack dependent coefficients of lift and drag respectively. The coefficients are modeled as proposed in [31,40] as The overall thrust T , horizontal force H and drag torque Q are obtained through integration.…”

Section: Rotor Model: Bemmentioning

confidence: 99%

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Bauersfeld

Kaufmann

Foehn

et al. 2021

Robotics: Science and Systems XVII

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“…Such models neglect key aerodynamic effects experienced by all rotary wing aircraft: as the vehicle flies forward, the dynamic lift experienced by the propellers yields a reduction in the multicopter's power consumption. Furthermore, linear rotor drag (induced drag) is not considered albeit significantly contributing to the overall drag [13].…”

Section: Introductionmentioning

confidence: 99%

Range, Endurance, and Optimal Speed Estimates for Multicopters

Bauersfeld

Scaramuzza

2022

IEEE Robot. Autom. Lett.

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Multicopters are among the most versatile mobile robots. Their applications range from inspection and mapping tasks to providing vital reconnaissance in disaster zones and to package delivery. The range, endurance, and speed a multirotor vehicle can achieve while performing its task is a decisive factor not only for vehicle design and mission planning, but also for policy makers deciding on the rules and regulations for aerial robots. To the best of the authors' knowledge, this work proposes the first approach to estimate the range, endurance, and optimal flight speed for a wide variety of multicopters. This advance is made possible by combining a state-of-the-art first-principles aerodynamic multicopter model based on blade-element-momentum theory with an electric-motor model and a graybox battery model. This model predicts the cell voltage with only 1.3% relative error ( 43.1mV ), even if the battery is subjected to non-constant discharge rates. Our approach is validated with real-world experiments on a test bench as well as with flights at speeds up to 65km/h in one of the world's largest motion-capture systems. We also present an accurate pen-and-paper algorithm to estimate the range, endurance and optimal speed of multicopters to help future researchers build drones with maximal range and endurance, ensuring that future multirotor vehicles are even more versatile.

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“…The techniques used for Tiltrotor UAV control should keep up pace with the overall flight control development. The focus must be on the non-linear dynamics created due to the innovative hybrid UAV layouts (Saeed et al , 2015; Ducard and Hua, 2014; Hirpara and Sharma, 2016). Numerous control methods along with theory related to it should be researched to improve UAV autonomy in varying environments (Hegde et al , 2019).…”

Section: Introductionmentioning

confidence: 99%

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

Hegde

George

Nayak

et al. 2021

IJIUS

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PurposeThis paper aims to provide a mathematical modeling and design of H-infinity controller for an autonomous vertical take-off and landing (VTOL) Quad Tiltrotor hybrid unmanned aerial vehicles (UAVs). The variation in the aerodynamics and model dynamics of these aerial vehicles due to its tilting rotors are the key issues and challenges, which attracts the attention of many researchers. They carry parametric uncertainties (such as non-linear friction force, backlash, etc.), which drives the designed controller based on the nominal model to instability or performance degradation. The controller needs to take these factors into consideration and still give good stability and performance. Hence, a robust H-infinity controller is proposed that can handle these uncertainties.Design/methodology/approachA unique VTOL Quad Tiltrotor hybrid UAV, which operates in three flight modes, is mathematically modeled using Newton–Euler equations of motion. The contribution of the model is its ability to combine high-speed level flight, VTOL and transition between these two phases. The transition involves the tilting of the proprotors from 90° to 0° and vice-versa in 15° intervals. A robust H-infinity control strategy is proposed, evaluated and analyzed through simulation to control the flight dynamics for different modes of operation.FindingsThe main contribution of this research is the mathematical modeling of three flight modes (vertical takeoff–forward, transition–cruise-back, transition-vertical landing) of operation by controlling the revolutions per minute and tilt angles, which are independent of each other. An autonomous flight control system using a robust H-infinity controller to stabilize the mode of transition is designed for the Quad Tiltrotor UAV in the presence of uncertainties, noise and disturbances using MATLAB/SIMULINK. This paper focused on improving the disturbance rejection properties of the proposed UAV by designing a robust H-infinity controller for position and orientation trajectory regulation in the presence of uncertainty. The simulation results show that the Tiltrotor achieves transition successfully with disturbances, noise and uncertainties being present.Originality/valueA novel VTOL Quad Tiltrotor UAV mathematical model is developed with a special tilting rotor mechanism, which combines both aircraft and helicopter flight modes with the transition taking place in between phases using robust H-infinity controller for attitude, altitude and trajectory regulation in the presence of uncertainty.

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Modeling of an unmanned hybrid aerial vehicle

Cited by 24 publications

References 9 publications

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

NeuroBEM: Hybrid Aerodynamic Quadrotor Model

Range, Endurance, and Optimal Speed Estimates for Multicopters

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

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