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

<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>

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Closed Loop Performance Analysis of Classical PID and Robust H-infinity Controller for VTOL Unmanned Quad Tiltrotor Aerial Vehicle

International Journal of Mechanics ◽

10.46300/9104.2021.15.25 ◽

2021 ◽

Vol 15 ◽

pp. 211-222

Author(s):

Navya Thirumaleshwar Hegde ◽

Aldrin Claytus Vaz ◽

C. G. Nayak

Keyword(s):

High Speed ◽

Main Idea ◽

Attitude Dynamics ◽

H Infinity ◽

Research Article ◽

Aerial Vehicle ◽

Noise Disturbances ◽

Set Up ◽

Rotor Structure ◽

Control Designs

Unmanned Aerial Vehicles (UAVs) guidance, control and navigation have directed the attention of many researchers in both aerospace engineering as well as control theory. Due to the unique rotor structure of Tiltrotor hybrid UAVs, they exhibit special application value. Quad Tiltrotor UAVs set up a distinctive platform that satisfies the needs of the varying mission requirements by combining the conventional features of high-speed cruise capabilities of an aircraft and hovering capabilities of a helicopter and by tilting its four rotors. The aim of this research article is to control the attitude and altitude of the UAV in the presence of uncertainty using two different control techniques. This paper addresses the comparative analysis of the robust H-infinity controller with classical PID control designs for the transition manoeuvre of a hybrid UAV: the VTOL Tiltrotor UAV. The proposed controllers achieve hover to cruise mode transition and vice-versa. The main idea behind the design of controller is to model and analyze the UAV’s position and attitude dynamics. The desired flight trajectory and the transition manoeuvre is achieved by controlling the tilt angle in 15° intervals from 90° to 0° and vice-versa. Performance index subjected to IAE is estimated and compared for both the controllers in the presence of noise, disturbances and uncertainties. The results of simulation illustrate that the robust H-infinity controller achieves better transition, good adaptability, robust performance and robust stability for the whole flight envelope when compared with the PID controller.

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Control and flight test of a tilt-rotor unmanned aerial vehicle

International Journal of Advanced Robotic Systems ◽

10.1177/1729881416678141 ◽

2017 ◽

Vol 14 (1) ◽

pp. 172988141667814 ◽

Cited By ~ 10

Author(s):

Chao Chen ◽

Jiyang Zhang ◽

Daibing Zhang ◽

Lincheng Shen

Keyword(s):

Unmanned Aerial Vehicle ◽

High Speed ◽

Cross Coupling ◽

Flight Test ◽

Control Allocation ◽

Tilt Rotor ◽

Satisfactory Performance ◽

Allocation Method ◽

Aerial Vehicle ◽

The Cost

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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Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

International Journal of Intelligent Unmanned Systems ◽

10.1108/ijius-09-2020-0041 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Navya Thirumaleshwar Hegde ◽

V. I. George ◽

C. Gurudas Nayak ◽

Aldrin Claytus Vaz

Keyword(s):

Mathematical Modeling ◽

Flight Control ◽

High Speed ◽

Equations Of Motion ◽

H Infinity ◽

Content Type ◽

Helicopter Flight ◽

Aerial Vehicles ◽

H Infinity Control ◽

And Performance

PurposeThis paper aims to provide a mathematical modeling and design of H-infinity controller for an autonomous vertical take-off and landing (VTOL) Quad Tiltrotor hybrid unmanned aerial vehicles (UAVs). The variation in the aerodynamics and model dynamics of these aerial vehicles due to its tilting rotors are the key issues and challenges, which attracts the attention of many researchers. They carry parametric uncertainties (such as non-linear friction force, backlash, etc.), which drives the designed controller based on the nominal model to instability or performance degradation. The controller needs to take these factors into consideration and still give good stability and performance. Hence, a robust H-infinity controller is proposed that can handle these uncertainties.Design/methodology/approachA unique VTOL Quad Tiltrotor hybrid UAV, which operates in three flight modes, is mathematically modeled using Newton–Euler equations of motion. The contribution of the model is its ability to combine high-speed level flight, VTOL and transition between these two phases. The transition involves the tilting of the proprotors from 90° to 0° and vice-versa in 15° intervals. A robust H-infinity control strategy is proposed, evaluated and analyzed through simulation to control the flight dynamics for different modes of operation.FindingsThe main contribution of this research is the mathematical modeling of three flight modes (vertical takeoff–forward, transition–cruise-back, transition-vertical landing) of operation by controlling the revolutions per minute and tilt angles, which are independent of each other. An autonomous flight control system using a robust H-infinity controller to stabilize the mode of transition is designed for the Quad Tiltrotor UAV in the presence of uncertainties, noise and disturbances using MATLAB/SIMULINK. This paper focused on improving the disturbance rejection properties of the proposed UAV by designing a robust H-infinity controller for position and orientation trajectory regulation in the presence of uncertainty. The simulation results show that the Tiltrotor achieves transition successfully with disturbances, noise and uncertainties being present.Originality/valueA novel VTOL Quad Tiltrotor UAV mathematical model is developed with a special tilting rotor mechanism, which combines both aircraft and helicopter flight modes with the transition taking place in between phases using robust H-infinity controller for attitude, altitude and trajectory regulation in the presence of uncertainty.

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Design, dynamic modelling and control of tilt-rotor UAVs: a review

International Journal of Intelligent Unmanned Systems ◽

10.1108/ijius-01-2019-0001 ◽

2019 ◽

Vol 8 (3) ◽

pp. 143-161 ◽

Cited By ~ 3

Author(s):

Navya Thirumaleshwar Hegde ◽

V.I. George ◽

C. Gurudas Nayak ◽

Kamlesh Kumar

Keyword(s):

Human Life ◽

Dynamic Modelling ◽

Control Algorithms ◽

H Infinity ◽

Content Type ◽

Tilt Rotor ◽

Review Articles ◽

Loop Shaping ◽

Non Linear ◽

And Control

Purpose The purpose of this paper is to give reviews on the platform modeling and design of a controller for autonomous vertical take-off and landing (VTOL) tilt rotor hybrid unmanned aerial vehicles (UAVs). Nowadays, UAVs have experienced remarkable progress and can be classified into two main types, i.e. fixed-wing UAVs and VTOL UAVs. The mathematical model of tilt rotor UAV is time variant, multivariable and non-linear in nature. Solving and understanding these plant models is very complex. Developing a control algorithm to improve the performance and stability of a UAV is a challenging task. Design/methodology/approach This paper gives a thorough description on modeling of VTOL tilt rotor UAV from first principle theory. The review of the design of both linear and non-linear control algorithms are explained in detail. The robust flight controller for the six degrees of freedom UAV has been designed using H-infinity optimization with loop shaping under external wind and aerodynamic disturbances. Findings This review will act as a basis for the future work on modeling and control of VTOL tilt rotor UAV by the researchers. The development of self-guided and fully autonomous UAVs would result in reducing the risk to human life. Civil applications include inspection of rescue teams, terrain, coasts, border patrol buildings, police and pipelines. The simulation results show that the controller achieves robust stability, good adaptability and robust performance. Originality/value The review articles on quadrotors/quadcopters, hybrid UAVs can be found in many literature, but there are comparatively a lesser amount of review articles on the detailed description of VTOL Tilt rotor UAV. In this paper modeling, platform design and control algorithms for the tilt rotor are presented. A robust H-infinity loop shaping controller in the presence of disturbances is designed for VTOL UAV.

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Ride Behaviour of a Four-wheel Vehicle using H Infinity Semi-active Suspension Control under Deterministic and Random Inputs

International Journal of Vehicle Structures and Systems ◽

10.4273/ijvss.13.2.18 ◽

2021 ◽

Vol 13 (2) ◽

Author(s):

Rakesh Chandmal Sharma ◽

Srihari Palli ◽

Neeraj Sharma ◽

Sunil Kumar Sharma

Keyword(s):

High Speed ◽

Cross Correlation ◽

Equations Of Motion ◽

Active Suspension ◽

Fast Fourier Transformation ◽

H Infinity ◽

Random Inputs ◽

Vehicle System ◽

Suspension Control ◽

H Infinity Control

In this article the ride behaviour of four-wheel vehicle system with H infinity control semi-active suspension is investigated when subjected to sine and random inputs. The random inputs are represented with correlation and cross correlation functions in time domain and represented by PSD using Fast Fourier Transformation. The deterministic inputs are simple functions of specific wavelength and amplitude. The equations of motion are presented using Newtons method. It is investigated from the present analysis that proposed H infinity control semi-active suspension control is effective in isolation of vibrations at high speed.

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RANCANG BANGUN MESIN PEMOTONG RUMPUT TENAGA SURYA UNTUK NAVIGASI

Electro Luceat ◽

10.32531/jelekn.v1i1.4 ◽

2015 ◽

Vol 1 (1) ◽

pp. 5-16

Author(s):

John Ohoiwutun

Keyword(s):

High Speed ◽

Solar Power ◽

Human Life ◽

Operating Cost ◽

Fuel Oil ◽

Kinematics And Dynamics ◽

Control Input ◽

High Speed Cutting ◽

Lawn Mower ◽

Coal Fuel

Utilization of conventional energy sources such as coal, fuel oil, natural gas and others on the one hand has a low operating cost, but on the other side of the barriers is the greater source of diminishing returns and, more importantly, the emergence of environmental pollution problems dangerous to human life. This study aims to formulate the kinematics and dynamics to determine the movement of Solar Power Mower. In this study, using solar power as an energy source to charge the battery which then runs the robot. Design and research was conducted in the Department of Mechanical Workshop Faculty of Engineering, University of Hasanuddin of Gowa. Control system used is a manual system using radio wave transmitter and receiver which in turn drive the robot in the direction intended. Experimental results showed that treatment with three variations of the speed of 6.63 m / s, 8.84 m / s and 15.89 m / sec then obtained the best results occur in grass cutting 15.89 sec and high-speed cutting grass 5 cm. Formulation of kinematics and dynamics for lawn mowers, there are 2 control input variables, x and y ̇ ̇ 3 to control the output variables x, y and θ so that there is one variable redudant. Keywords: mobile robots, lawn mower, solar power

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ANALISA PERBANDINGAN DALAM RANGKA PEMILIHAN BEBERAPA IP UPSTREAM PROVIDER DI PT. INDOSAT

Jurnal Ilmiah Binaniaga ◽

10.33062/jib.v4i1.207 ◽

2018 ◽

Vol 4 (1) ◽

pp. 57

Author(s):

Yuli Anwar ◽

Dahlar .

Keyword(s):

Business Strategy ◽

High Speed ◽

Human Life ◽

Sustainable Growth ◽

The Internet ◽

Network Service Provider ◽

High Speed Data ◽

Telecommunications Services ◽

The Cost ◽

Internet Network

Abstract. One of the advances in information technology that now has changed the outlook and human life, business process and business strategy of an institution is the internet. The internet is a very large networks that connected to computers and serves throughout the world in one centralized network. With the internet we can access data and information anytime and anywhere. As one provider of high-speed data communications services and the pioneer of the internet network service provider in Indonesia that provides integrated services, as well as one of the pioneer development of internet services that provide extensive services in the building and apply it throughout Indonesia. Indosat ready to seize opportunities for sustainable growth of business spectrum are still sprawling Indonesia. Therefore, Indosat continues to focus on the development of increased efforts to provide the best service for customers of Indosat. Indosat will continue to develop and expand network coverage and a larger investment that the company will achieve excellence in the field of integrated telecommunications services. Ranking by region of the IP Providers can be seen by grouping IP Providers, and management over IP Providers prefer to choose providers based on where it orginates as an example for the region of the U.S if it will be preferred providers that come from U.S. providers.With the commencement of the internet network optimization start early in 2008 with the selection of the appropriate IP Upstream Provider criteria, it is up to date according to data obtained from Indosat, seen any significant changes to the cost of purchasing capacity of the IP Upstream. Based on the data obtained that until Q3 or September 2008, the number of IP Upstream Providers that previously there were 20 to 10 IP Upstream Provider, IP Transit Price total decrease of 11% to the price of IP Transit Price / Mbps there is a decrease of 78%, while from the capacity bandwith an increase of 301% capacity from 2008.

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