Transition between Level Flight and Hovering of a Tail-Sitter Vertical Takeoff and Landing Aerial Robot

Kita, Koichi; Konno, Atsushi; Uchiyama, Masaru

doi:10.1163/016918610x493570

Cited by 44 publications

(24 citation statements)

References 4 publications

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“…Furthermore, the transition flight control problem is more challenging for tail‐sitters because of aggressive maneuvers involved in the flight mode transitions. Proportional‐integral‐derivative controllers were implemented to achieve the tracking control for tail‐sitters in transition maneuvers . However, the effects of uncertainties and external disturbances were not further analyzed in the controller design .…”

Section: Introductionmentioning

confidence: 99%

“…Proportional‐integral‐derivative controllers were implemented to achieve the tracking control for tail‐sitters in transition maneuvers . However, the effects of uncertainties and external disturbances were not further analyzed in the controller design . Linear quadratic regulation (LQR) controllers were designed to achieve the trajectory tracking control for tail‐sitters .…”

Section: Introductionmentioning

confidence: 99%

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Robust trajectory tracking control for unmanned tail‐sitters in aggressive flight mode transitions

Liu

Lewis

2019

Intl J Robust & Nonlinear

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Summary In this paper, the trajectory tracking control problem is investigated for a new typical tail‐sitter. A robust hierarchical control method is proposed to achieve aggressive flight mode transitions. The proposed control method results in a composite controller including a translational controller and a rotational controller to control the position and attitude respectively. Continuous aggressive flight mode transitions can be achieved without switching on the coordinate systems or the controller structures. It is proven that the tracking errors of the designed closed‐loop system can converge into a given neighborhood of the origin in a finite time. Simulation results show the effectiveness of the proposed control strategy.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust trajectory tracking control for unmanned tail‐sitters in aggressive flight mode transitions

Liu

Lewis

2019

Intl J Robust & Nonlinear

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“…Gimbal lock is an inevitable problem in hover control. Quaternion feedback control is the mostly used method to solve this problem [1][2][3], although it is not physically intuitive. Attitude control using resolved tilt-twist is physically more intuitive [4,5] and can avoid undesired movement of fuselage.…”

Section: Introductionmentioning

confidence: 99%

Hover control of a thrust-vectoring aircraft

Kuang

Zhu

2015

Sci. China Inf. Sci.

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In this paper, the hover control method of a thrust-vectoring aircraft is discussed, which is the first step to realize vertical takeoff and landing (VTOL) as a tail-sitter. To avoid the gimbal lock problem, vertical Euler angles are used and a new calculation method of them is presented. The attitude controller switches between horizon mode and vertical mode, with a specially designed switchable control architecture. Linear/constant acceleration approximation is used for attitude control, which aims to get quick response and prevent overshooting at the same time. Special proportion integral derivative (PID) controller with anti-torque counteraction is proposed to generate servo angles. Experimental results verify the effectiveness of the proposed control method.

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“…al. developed a simple tail-sitter VTOL UAV with a single propeller R/C airplane [3]. The above mentioned tail-sitter VTOL UAVs were developed based on fixed-wing aircraft.…”

Section: Introductionmentioning

confidence: 99%

Development of a quad rotor tail-sitter VTOL UAV without control surfaces and experimental verification

Oosedo

Abiko

Konno

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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This paper presents development of a quad rotor tail-sitter VTOL UAV (Vertical Takeoff and Landing Unmanned Aerial Vehicle) which is composed of four rotors and a fixed wing. The conventional VTOL UAVs have a drawback in the accuracy of the attitude control in stationary hovering because they were developed based on a fixed-wing aircraft and they used the control surfaces, such as aileron, elevator, and rudder for the attitude control. To overcome such a drawback, we developed a quad rotor tail-sitter VTOL UAV. The quad rotor tail-sitter VTOL UAV realizes high accuracy in the attitude control with four rotors like a quad rotor helicopter and achieves level flight like a fixed-wing airplane. The remarkable characteristic of the developed quad rotor tail-sitter VTOL UAV is that it does not use any control surfaces even in the level flight. This paper shows the design concept of the developed UAV and experimental verification of all flight modes including hovering, transition flight and level flight.

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Transition between Level Flight and Hovering of a Tail-Sitter Vertical Takeoff and Landing Aerial Robot

Cited by 44 publications

References 4 publications

Robust trajectory tracking control for unmanned tail‐sitters in aggressive flight mode transitions

Robust trajectory tracking control for unmanned tail‐sitters in aggressive flight mode transitions

Hover control of a thrust-vectoring aircraft

Development of a quad rotor tail-sitter VTOL UAV without control surfaces and experimental verification

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