Transition flight modeling and robust control of a VTOL unmanned quad tilt-rotor aerial vehicle

Abstract

<span>The development of fully autonomous Unmanned Aerial Vehicles (UAV) plays a major contribution towards reducing the risk to human life in various applications including rescue teams, border patrol, police and inspection of buildings, pipelines, coasts, and terrains. Tiltrotor hybrid UAV exhibit special application value due to its unique rotor structure. The variation in the model dynamics and aerodynamics due to the tilting rotors are the major key issues and challenges which attracted the attention of many researchers. This vehicle combines the hovering capabilities of a helicopter along with the high-speed cruise capabilities of a conventional airplane by tilting its four rotors. In the present research work, the authors attempt to model a quad tilt rotor UAV using Newton-Euler formulation. A dynamic model of the vehicle is derived mathematically for horizontal, vertical and transition flight modes. A robust H-infinity control strategy is proposed, evaluated and analyzed through simulation to control the flight dynamics of the different modes of the UAV. Simulation results shows that the tiltrotor UAV achieves transition successfully.</span>

Artificial Intelligence Technologies and Applications Used in Unmanned Aerial Vehicle Systems

“…The flight control system utilizes sensors to collect and process data, subsequently transmitting commands to other UAV components and relaying information to the ground station's computer system via the telemetry module. (Hegde et al, 2020) Figure 2 illustrates a block diagram of a rotary-wing UAV's flight control system, responsible for managing flight based on parameters such as altitude, distance, coordinates, wing rotation speed, and other variables. This system initially performs measurement and calculation processes to reach ideal position values based on the UAV's position during takeoff, landing, and flight.…”

A Deep Learning Approach for Trajectory Control of Tilt-Rotor UAV

“…While, in [7], the non-linear Active Disturbance Rejection Control and Sliding Mode Control (SMC) methods are exploited for providing control of tilt-rotor aircraft in the transition flight phase. A robust (H-inf) linear control approach is proposed in [8] for constructing a tilt-rotor flight control system. This approach bases its control parameter computation on a set of linear systems, each of which represents a different flight phase of the aircraft, including the transition phase.…”