Optimal transition from hovering to level-flight of a quadrotor tail-sitter UAV

Oosedo, Atsushi; Abiko, Satoko; Konno, Atsushi; Uchiyama, Masaru

doi:10.1007/s10514-016-9599-4

Cited by 62 publications

(36 citation statements)

References 18 publications

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“…Note that the rotation order of the Euler angles used is 'ZXY', instead of the more conventional 'ZYX', in order to avoid the singularity at ninety degrees pitch angle. 17 The vehicle starts out hovering with a pitch angle of around -33 degrees, because of the presence of a bit of wind. Then an increasing velocity is commanded, and the aircraft accelerates to 23 m/s airspeed.…”

Section: Flight Testsmentioning

confidence: 99%

Development of A Fixed-Wing mini UAV with Transitioning Flight Capability

Bronz

Smeur

Marina

et al. 2017

35th AIAA Applied Aerodynamics Conference

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This study presents the development of the transitioning vehicle Cyclone, which has been specifically designed for meteorological and agricultural applications. The mission requirements demand takeoff and landing from a small area and the ability to cope with high wind speeds. In contrast with recent suggestions, our proposed design aims to be closer to a fixed-wing airplane rather than a rotary wing. In particular, the design focuses on a tiltbody style transitioning vehicle with blown-wing concept. The propeller wing interaction is calculated using a semi-empirical method. The total wing span and wing surface area are decided according to the mission performance requirements. For the control of the vehicle, incremental nonlinear dynamic inversion is used. This control method does not need the modeling of external forces or moments and is able to counteract the strong aerodynamic forces and moments acting on the vehicle through the feedback of its angular acceleration. Together with the design phases and manufacturing process, several test flights are presented. Particular difficulties of the proposed design are discussed, including lack of providing sufficient pitch-up moment and control reversal during descent. The test flights demonstrate the vertical takeoff and landing capabilities of the vehicle, as well as its transitioning into forward flight from hovering, and vice versa, for an efficient mission performance.

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Section: Flight Testsmentioning

confidence: 99%

Development of A Fixed-Wing mini UAV with Transitioning Flight Capability

Bronz

Smeur

Marina

et al. 2017

35th AIAA Applied Aerodynamics Conference

View full text Add to dashboard Cite

show abstract

“…Theorem 1. If the tail-sitter UAV consisting of (11) and (12) is controlled by the controller, as shown in (14), (15), and (20) for any given initial bounded conditions and a given positive constant , there exist positive constants * i (i = 1, 2, 3)…”

Section: Robustness Property Analysismentioning

confidence: 99%

“…Many works have been done to achieve the transition flight control of the tail-sitter UAVs. In the works of Matsumoto et al, 18 Lyu et al, 19 and Oosedo et al, 20 proportional-integral-derivative (PID) controllers were designed for the tail-sitter UAVs to achieve the transition maneuvers. Linear quadratic regulator control methods were presented in the works of Stone et al 21 and Kubo and Suzuki 22 for a convertible tail-sitter UAV.…”

Section: Introductionmentioning

confidence: 99%

Robust attitude control for tail‐sitter unmanned aerial vehicles in flight mode transitions

Liu

et al. 2018

Intl J Robust & Nonlinear

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Tail-sitter unmanned aerial vehicles (UAVs) can flight as rotorcrafts as well as fixed-wing aircrafts, but it is hard to control the flight mode transition. The vehicle dynamics involves serious parametric uncertainties, highly nonlinear dynamics, and is easy to be affected by external disturbances, especially during the mode transition. This paper presents a robust control method for a kind of tail-sitter UAVs to achieve the flight mode transition. The robust controller is proposed based on the state-feedback control scheme and the robust compensation method. The proposed control method does not need to switch the coordinate system, the controller structure, or the controller parameters during the mode transitions. Theoretical analysis is given to guarantee the robustness stability of the designed flight control system. Numerical simulation results are presented to show the advantages of the proposed control method compared with the state-feedback control method and the sliding mode control approach. KEYWORDSnonlinear system, robust control, tail-sitter aerial vehicle, uncertain system 1132

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“…In recent years, the unmanned aerial vehicles (UAVs) have attracted much attention because of their various applications (see, e.g., [1,2,3,4,5]). Tail-sitter aircrafts are a new type of UAVs, which can vertical take off and land (VTOL) on their tails, and fly forward with high speeds and heavy loads.…”

Section: Introductionmentioning

confidence: 99%

“…Due to these advantages, the tail-sitter aircrafts have drawn much attention and have various applications in civil and military fields, as shown in [1]. The flight mode transition of tail-sitter aircraft is a process that the aircraft flies forward from hovering, or vice versa [3,6]. During the flights of the tail-sitter aircraft, including flying forward, hovering, mode transition, take-off and landing, multiple challenges exist such as nonlinearities and uncertainties involved in the vehicle dynamics for the flight control method design, especially in the flight mode transitions [7].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear robust control of tail-sitter aircrafts in flight mode transitions

Zhang

Liu

et al. 2018

Aerospace Science and Technology

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In this paper, a nonlinear robust controller is proposed to deal with the flight mode transition control problem of tail-sitter aircrafts. During the mode transitions, the control problem is challenging due to the high nonlinearities and strong couplings. The tail-sitter aircraft model can be considered as a nominal part with uncertainties including nonlinear terms, parametric uncertainties, and external disturbances. The proposed controller consists of a nominal H ∞ controller and a nonlinear disturbance observer. The nominal H ∞ controller based on the nominal model is designed to achieve the desired trajectory tracking performance. The uncertainties are regarded as equivalent disturbances to restrain their influences by the nonlinear disturbance observer. Theoretical analysis and simulation results are given to show advantages of the proposed control method, compared with the standard H ∞ control approach.

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Optimal transition from hovering to level-flight of a quadrotor tail-sitter UAV

Cited by 62 publications

References 18 publications

Development of A Fixed-Wing mini UAV with Transitioning Flight Capability

Development of A Fixed-Wing mini UAV with Transitioning Flight Capability

Robust attitude control for tail‐sitter unmanned aerial vehicles in flight mode transitions

Nonlinear robust control of tail-sitter aircrafts in flight mode transitions

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