article

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

Authors:

Atsushi Oosedo,

Masaru UchiyamaAuthors Info & Claims

Autonomous Robots, Volume 41, Issue 5

Pages 1143 - 1159

https://doi.org/10.1007/s10514-016-9599-4

Published: 01 June 2017 Publication History

Abstract

A quadrotor equipped with a fixed-wing (hereinafter referred to as the quadrotor tail-sitter UAV) has been developed by authors. The quadrotor tail-sitter UAV can hover like a quadrotor and can fly like a fixed-wing airplane. The remarkable characteristic of the developed quadrotor tail-sitter UAV is that it does not use any control surfaces during any form of flight; hovering, transition flight or level flight. This paper discusses an optimal transition from hovering to level flight for the quadrotor tail-sitter UAV because transition flight is most likely to be unstable throughout flight owing to stalling of the fixed-wing. The paper proposes three transition strategies: (i) normal transition (PID feedback to a step input), (ii) minimizing the transition time, and (iii) minimizing the transition time with keeping altitude constant. To realize the above optimal transition strategies, the aerodynamic parameters of the developed quadrotor tail-sitter UAV are measured by the wind tunnel test in advance. The three strategies are experimentally verified and the comparison among the three strategies is presented.

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Cited By

Cheng ZPei H(2022)Control Effectiveness Enhancement for the Hovering/Cruising Transition Control of a Ducted Fan UAVJournal of Intelligent and Robotic Systems10.1007/s10846-022-01689-y105:4Online publication date: 6-Aug-2022
https://dl.acm.org/doi/10.1007/s10846-022-01689-y
Magariyama TAbiko S(2020)Seamless 90-Degree Attitude Transition Flight of a Quad Tilt-rotor UAV under Full Position Control2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)10.1109/AIM43001.2020.9158965(839-844)Online publication date: 6-Jul-2020
https://dl.acm.org/doi/10.1109/AIM43001.2020.9158965
Huang THuang DWang ZShah A(2019)Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode ControllerComplexity10.1155/2019/79316322019Online publication date: 14-Dec-2019
https://dl.acm.org/doi/10.1155/2019/7931632
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Index Terms

Optimal transition from hovering to level-flight of a quadrotor tail-sitter UAV
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Planning and scheduling
      1. Robotic planning

Index terms have been assigned to the content through auto-classification.

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This paper presents a unified control framework for controlling a quadrotor tail-sitter UAV. The most salient feature of this framework is its capability of uniformly treating the hovering and forward flight, and enabling continuous transition between ...

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Published In

cover image Autonomous Robots

Autonomous Robots Volume 41, Issue 5

June 2017

225 pages

ISSN:0929-5593

Issue’s Table of Contents

Copyright © Copyright © 2017 Springer Science+Business Media New York.

Publisher

Kluwer Academic Publishers

United States

Publication History

Published: 01 June 2017

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Cited By

Cheng ZPei H(2022)Control Effectiveness Enhancement for the Hovering/Cruising Transition Control of a Ducted Fan UAVJournal of Intelligent and Robotic Systems10.1007/s10846-022-01689-y105:4Online publication date: 6-Aug-2022
https://dl.acm.org/doi/10.1007/s10846-022-01689-y
Magariyama TAbiko S(2020)Seamless 90-Degree Attitude Transition Flight of a Quad Tilt-rotor UAV under Full Position Control2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)10.1109/AIM43001.2020.9158965(839-844)Online publication date: 6-Jul-2020
https://dl.acm.org/doi/10.1109/AIM43001.2020.9158965
Huang THuang DWang ZShah A(2019)Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode ControllerComplexity10.1155/2019/79316322019Online publication date: 14-Dec-2019
https://dl.acm.org/doi/10.1155/2019/7931632
Camci EKayacan E(2019)Learning motion primitives for planning swift maneuvers of quadrotorAutonomous Robots10.1007/s10514-019-09831-w43:7(1733-1745)Online publication date: 1-Oct-2019
https://dl.acm.org/doi/10.1007/s10514-019-09831-w
Shi XKim KRahili SChung S(2018)Nonlinear Control of Autonomous Flying Cars with Wings and Distributed Electric Propulsion2018 IEEE Conference on Decision and Control (CDC)10.1109/CDC.2018.8619578(5326-5333)Online publication date: 17-Dec-2018
https://dl.acm.org/doi/10.1109/CDC.2018.8619578

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