Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change

Atsushi Oosedo; Satoko Abiko; Shota Narasaki; Atsushi Kuno; Atsushi Konno; Masaru Uchiyama

doi:10.1109/ICRA.2015.7139508

Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change

Atsushi Oosedo, Satoko Abiko, Shota Narasaki, Atsushi Kuno, Atsushi Konno, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

70 Citations (Scopus)

Abstract

Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, e.g. a UAV flying and hovering with a 90 [°] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the attitude transition flight control system for pitch angles ranging 0 [°] to 90 [°] since flight condition with a 90 [°] pitch angle significantly differs from that in a conventional quadrotor UAV flight, and then adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2326-2331
Number of pages	6
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139508
Publication status	Published - 2015 Jun 29
Externally published	Yes
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 2015 May 26 → 2015 May 30

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Other

Other	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	15/5/26 → 15/5/30

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2015.7139508

Cite this

Oosedo, A., Abiko, S., Narasaki, S., Kuno, A., Konno, A., & Uchiyama, M. (2015). Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 2326-2331). Article 7139508 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139508

Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change. / Oosedo, Atsushi; Abiko, Satoko; Narasaki, Shota et al.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2326-2331 7139508 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Oosedo, A, Abiko, S, Narasaki, S, Kuno, A, Konno, A & Uchiyama, M 2015, Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139508, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 2326-2331, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 15/5/26. https://doi.org/10.1109/ICRA.2015.7139508

Oosedo A, Abiko S, Narasaki S, Kuno A, Konno A, Uchiyama M. Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2326-2331. 7139508. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139508

Oosedo, Atsushi ; Abiko, Satoko ; Narasaki, Shota et al. / Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 2326-2331 (Proceedings - IEEE International Conference on Robotics and Automation; June).

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abstract = "Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, e.g. a UAV flying and hovering with a 90 [°] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the attitude transition flight control system for pitch angles ranging 0 [°] to 90 [°] since flight condition with a 90 [°] pitch angle significantly differs from that in a conventional quadrotor UAV flight, and then adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.",

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AB - Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, e.g. a UAV flying and hovering with a 90 [°] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the attitude transition flight control system for pitch angles ranging 0 [°] to 90 [°] since flight condition with a 90 [°] pitch angle significantly differs from that in a conventional quadrotor UAV flight, and then adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.

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Flight control systems of a quad tilt rotor Unmanned Aerial Vehicle for a large attitude change

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