In this paper, we present the development of a quad-rotor tail-sitter unmanned aerial vehicle (UAV) that is composed of quad rotors and a fixed wing. The developed UAV can hover like a quad-rotor helicopter and can fly long distance like a fixed-wing airplane. The main wing of the developed UAV is taken from a commercially available radio-controlled airplane and other parts such as the body frame are newly developed. A microcomputer, various sensors and a battery are mounted on the UAV for autonomous flight without any support from a ground system. Attitude and altitude control systems are developed for the UAV. In order to verify the designed controller, a three-dimensional flight simulator of a quad-rotor tail-sitter UAV is developed by use of MATLAB/Simulink. This paper also describes attitude control experiments. The results show that the propeller slipstream has a negative influence on attitude control. Solutions for the negative influence of the propeller slipstream are also discussed in this paper.


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    Titel :

    Design and Attitude Control of a Quad-Rotor Tail-Sitter Vertical Takeoff and Landing Unmanned Aerial Vehicle


    Beteiligte:
    Oosedo, Atsushi (Autor:in) / Konno, Atsushi (Autor:in) / Matsumoto, Takaaki (Autor:in) / Go, Kenta (Autor:in) / Masuko, Koji (Autor:in) / Uchiyama, Masaru (Autor:in)

    Erschienen in:

    Advanced Robotics ; 26 , 3-4 ; 307-326


    Erscheinungsdatum :

    2012


    Format / Umfang :

    20 Seiten




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch







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