Control and flight test of a tilt-rotor unmanned aerial vehicle
C Chen, J Zhang, D Zhang… - International Journal of …, 2017 - journals.sagepub.com
C Chen, J Zhang, D Zhang, L Shen
International Journal of Advanced Robotic Systems, 2017•journals.sagepub.comTilt-rotor unmanned aerial vehicles have attracted increasing attention due to their ability to
perform vertical take-off and landing and their high-speed cruising abilities, thereby
presenting broad application prospects. Considering portability and applications in tasks
characterized by constrained or small scope areas, this article presents a compact tricopter
configuration tilt-rotor unmanned aerial vehicle with full modes of flight from the rotor mode
to the fixed-wing mode and vice versa. The unique multiple modes make the tilt-rotor …
perform vertical take-off and landing and their high-speed cruising abilities, thereby
presenting broad application prospects. Considering portability and applications in tasks
characterized by constrained or small scope areas, this article presents a compact tricopter
configuration tilt-rotor unmanned aerial vehicle with full modes of flight from the rotor mode
to the fixed-wing mode and vice versa. The unique multiple modes make the tilt-rotor …
Tilt-rotor unmanned aerial vehicles have attracted increasing attention due to their ability to perform vertical take-off and landing and their high-speed cruising abilities, thereby presenting broad application prospects. Considering portability and applications in tasks characterized by constrained or small scope areas, this article presents a compact tricopter configuration tilt-rotor unmanned aerial vehicle with full modes of flight from the rotor mode to the fixed-wing mode and vice versa. The unique multiple modes make the tilt-rotor unmanned aerial vehicle a multi-input multi-output, non-affine, multi-channel cross coupling, and nonlinear system. Considering these characteristics, a control allocation method is designed to make the controller adaptive to the full modes of flight. To reduce the cost, the accurate dynamic model of the tilt-rotor unmanned aerial vehicle is not obtained, so a full-mode flight strategy is designed in view of this situation. An autonomous flight test was conducted, and the results indicate the satisfactory performance of the control allocation method and flight strategy.
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