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This 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.

A 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.

The 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.

A 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.

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.

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.

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.

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.

SINCE in the context of this article it is the civil air transport application of rotorcraft which is of interest, only large passenger carrying rotorcraft are considered.

The motivation to perform research on feedback control system for unmanned aerial vehicles, a fact that each quadrocopter is unstable.

For this reason, it is necessary to design a control system which is capable of making unmanned aerial vehicle vertical take-off and landing (UAV VTOL) stable and controllable. For this purpose, it was decided to use a feedback control system with cascaded PID controller. The main reason for using it was that PID controllers are simple to implement and do not use much hardware resources. Moreover, cascaded control systems allow to control object response using more parameters than in a standard PID control. STM32 microcontrollers were used to make a real control system. The rapid prototyping using Embedded Coder Toolbox, FreeRTOS and STM32 CubeMX was conducted to design the algorithm of the feedback control system with cascaded PID controller for unmanned aerial vehicle vertical take-off and landings (UAV VTOLs).

During research, an algorithm of UAV VTOL control using the feedback control system with cascaded PID controller was designed. Tests were performed for the designed algorithm in the model simulation in Matlab/Simulink and in the real conditions.

It has been proved that an additional control loop must have a full PID controller. Moreover, a new library is presented for STM32 microcontrollers made using the Embedded Coder Toolbox just for the research. This library enabled to use rapid prototyping while developing the control algorithms.

HAWKER SIDDELEY'S studies on future advanced aircraft embrace the complete spectrum of field length from CTOL down to VTOL. However, this review is concerned solely with the results and conclusions obtained from past studies undertaken in 1969–1971 of STOL and V/STOL aircraft to meet requirements in the longer term.

This paper aims to present a preliminary study on a disruptive vertical take-off and landing (VTOL) configuration based on the best wing system concept by L. Prandtl.

A preliminary design has been addressed from several points of views: a conceptual design has been carried out thanks to in-house optimization tool; aerodynamic performances, propulsion design and mechanical design have been addressed to make the first prototype for preliminary vertical flight tests.

The study shows the feasibility of box-wing configuration for VTOL aircraft.

The work shows a general design procedure for box-wing unmanned air vehicle (UAV) configuration. The study of this configuration can be easily adopted in wider range, from UAV to general aviation. In the last category, it can be a promising configuration for the future of urban air mobility.

This work lays the foundation for studying and testing box-wing configuration for unmanned VTOL aircraft. The design procedure can be scaled to manned aircraft belonging to general aviation aircraft.

Tilt rotor aircraft will add new dimensions to corporate and charter air transportation beginning in the 1980s or 1990s. The tilt rotor combines the VTOL capability of the helicopter with the speed, range, and fuel economy of the turboprop aircraft. The civil use of he helicopter has expanded enormously in the last 25 years because of its effectiveness in point‐to‐point transportation and its capability to operate from confined or limited areas. The tilt rotor dramatically increases that effectiveness because it hovers like a helicopter but cruises at twice the speed for twice the range on the same amount of fuel.

WITH the advent of VTOL aircraft, dynamic similarity has become increasingly important. VTOL performance is dependent upon propeller diameter or upon the cross‐sectional area of a jet stream. Without understanding the effects of dynamic similarity, propeller ratings in thrust per horse‐power may be misleading as a design criterion in equating aircraft size to a desired mission.

This paper aims to present the results of aerodynamic calculation of the aircraft in tandem wing configuration called VTOL. A presented vehicle combines the capabilities of the classic aircraft and helicopters. The aircraft is equipped with two pairs of tilt-rotors mounted on the tips of the front and the rear wing. The main goal of the presented research was to find the aerodynamic impact of both pairs of tilt-rotors on aerodynamic coefficients of the aircraft. Moreover, the rotors impact on the static stability of the aircraft was investigated too.

The CFD analysis was made for the complete aircraft in the tandem wing configuration. The computation was performed for the model of aircraft which was equipped with the four sub-models of the front and rear rotors. They were modeled as the actuator discs. This method allows for computing the aerodynamic impact of rotating components on the aircraft body. All aerodynamic analysis was made by the MGAERO software. The numerical code of the software was based on the Euler flow model. The used numerical method allows for the quick computation of very complex model of aircraft with a satisfied accuracy.

The result obtained by computation includes the aerodynamic coefficients which described the impact of the tilt rotors on the aircraft aerodynamic. The influence of the angle of attack, sideslip angle and the change of rotor tilt angle was investigated. Evaluation of the influence was made by the stability margin analysis and the selected stability derivatives computation.

Presented results could be very useful in the computation of dynamic stability of unconventional aircraft. Moreover, results could be helpful during designing the aircraft in the tandem wing configuration.

This paper presents the aerodynamic analysis of the unconventional configuration of the aircraft which combines the tandem wing feature with the tilt-rotor advantages. The impact of disturbance generated by the front and rear rotors on the flow around the aircraft was investigated. Moreover, the impact of rotors configuration on the aircraft static stability was found too.

The purpose of this paper is to generate residuals which can be used to detect fault and isolate on a vertical takeoff and landing (VTOL) aircraft dynamic model.

In the proposed approach, a generalized observer scheme method based on an unknown input observer is used for residual generation and applied to detect and isolate a faulty sensor. A bank of robust unknown input observers estimates the state variables of the system and gathers necessary information for fault detection and isolation purposes.

A sinus signal is considered as a non‐linear disturbance in simulations. A failure simulation was prepared in different times. In this situation an unknown input observer should be designed which could predict the states of the system against the disturbances or unknown inputs. In the real world, there exist unknown inputs such as system non‐linearities, noise and disturbances. The paper shows that the system based on UIO is robust for unknown inputs mentioned above.

It is simulated on a VTOL dynamic model using MATLAB/Simulink. Any single sensor fault could be detected and isolated correctly. This kind of observer is also robust and flexible.