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Voß, Nico (author)
Quad-planes combine hovering and vertical takeoff and landing capability with fast and efficient forward flight. Regular Quad-planes with dedicated pusher motor can be subject to gust disturbances, and are not well-equipped to deal with actuator faults. Dual-axis Tilt-Rotor quad-planes are more maneuverable due to their overactuation. This also...
master thesis 2024
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Wechtler, Noah (author)
Quad-planes are a type of vehicle which combine the hovering capability of quadcopters and the forward flight efficiency of winged aircraft. Flight tests conducted on a dual-axis tilting-rotor quad-plane, designed to fly without aerodynamic surfaces, observed that the quad-plane suffered from insufficient roll authority during fast, forward...
master thesis 2024
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Liu, Huamin (author)
The transportation of payloads utilizing multiple drones presents a promising application for lifting heavier loads that exceed the payload capacity of a single drone. However, the cable-suspended payload introduces significant challenges to the system, and this research area remains relatively unexplored. In this work, a novel solution for...
master thesis 2023
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van Wissen, Alexis (author)
Capable of both vertical take-off and landing and forward flight, tail-sitters are a versatile class of UAVs with a large range of potential applications. A variant of tailsitters using tilt-rotors instead of ailerons for pitch and roll control has been proposed to mitigate the reduced control authority at low to zero velocities. The control of...
master thesis 2023
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de Vries, Rinto (author)
Recent literature in real-time trajectory planning has proposed using Control Barrier Functions (CBFs) as collision constraints in Model Predictive Control (MPC) for efficient guidance, a concept referred to as MPC-CBF. This concept has been explored for both first and second-order CBFs. However, these approaches relied on an analytical...
master thesis 2023
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Laffita van den Hove d'Ertsenryck, Jonathas (author)
Fixed-wing aircraft fly longer, faster, and further than rotorcraft, but cannot take off or land vertically. Hybrid drones combine VTOL with a wing for forward flight, but the hovering system generally makes them less efficient than a pure fixed-wing. We propose an alternative, in which a rotorcraft is used to assist the fixed-wing UAV with the...
master thesis 2023
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Larocque, Frédéric (author)
Pitot tube-free airspeed estimation methods exist for fixed-wing and multirotor configurations, but lack direct applicability to hybrid unmanned air vehicles due to their wide flight envelope and changing dynamics during transition. This work proposes a novel synthetic air data system for the Variable Skew Quad Plane (VSQP) hybrid vehicle to...
master thesis 2023
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Engelen, Koen (author)
Unmanned Aerial Vehicles (UAVs) are increasingly being used in various applications, which demand longer endurance, extended range, and high maneuverability. These requirements necessitate the development of effective control methods for Hybrid UAVs. In this paper, we propose an outer loop Incremental Nonlinear Dynamic Inversion (INDI)...
master thesis 2023
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Blaha, Till (author)
An effective distribution of flight control commands over many aircraft actuators (engines, control surfaces, flaps, etc.) can be achieved with constrained optimisation. Active-Set methods solve these problems efficiently, but their computational time requirements are still prohibitive for aircraft with many actuators or slower digital flight...
master thesis 2023
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Makaveev, Momchil (author)
This project proposes and evaluates a novel concept for an airspeed instrument aimed at small hybrid unmanned aerial vehicles. The working principle is to relate the power spectra of the wall-pressure fluctuations beneath the turbulent boundary layer formed over the vehicle’s body to its airspeed. The instrument consists of two microphones,...
master thesis 2023
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Lovell-Prescod, Gervase (author)
By combining the ability to hover with a wing for fast and efficient horizontal flight, hybrid unmanned aircraft extend the flight envelope and therefore mission capabilities of unmanned aircraft. However, this comes at a cost: increased complexity control-wise and being more susceptible to wind disturbances. This susceptibility to wind gusts is...
master thesis 2022
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Collicelli, Alessandro (author)
Incremental Nonlinear Dynamics Inversion (INDI) flight controllers are sensor-based control systems, that are robust towards model uncertainty and with good disturbance rejection characteristics. These controllers show coupling effects in structural modes when implemented in specific flying vehicles with low-frequency structural motions. This...
master thesis 2022
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De Ponti, Tomaso (author)
This paper presents the design of an Incremental Nonlinear Dynamic Inversion (INDI) controller for the novel platform VSQP. Part of the identified challenges is the develop- ment of a model for the actuator effectiveness and lift especially as a function of skew, the newly added degree of freedom. In particular it is assumed that the actuator...
master thesis 2022
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Kanhai, Prawien (author)
In recent years the popularity of VTOL (Vertical Take-Off and Landing) drones has increased significantly. Due to their hybrid design, these drones can take off and land vertically and fly horizontally, enabling them to land in difficult terrain and have a more extensive range than the Quadcopter counterpart. However, this hybrid design also...
master thesis 2022
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Campolucci, Pietro (author)
This paper proposes a control strategy based on incremental nonlinear dynamic inversion (INDI), meant for trajectory tracking purposes. The controller extends the conven- tional capabilities of INDI by including actuator dynamics in the inversion law and introducing a state dependent compensation term to reduce the effort of the error controller...
master thesis 2022
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Bracke, Aaron (author), Džubinský, Maxim (author), Ghisalberti, Giovanni (author), Groothoff, Thomas (author), Kos, Robin (author), Mandlekar, Ojas (author), Ou, Dequan (author), Quadras, Bryan (author), Sofi, Giacomo (author), Chatupanyachotikul, Tyme (author)
Drones have been an emerging trend in the last few years. They are used in multiple industries<br/>already, from photography and videography to racing. More use cases are now being conceived,<br/>such as using drones to deliver packages and food to people at home, using drones for inspections,<br/>or even using them as rescue searching vehicles...
bachelor thesis 2022
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Schröter, Shawn (author)
Unmanned Aerial Vehicles, UAVs, serve many purposes<br/>these days, such as short-range inspections<br/>and long-distance search and rescue missions. Long-distance missions can entail a search in a building. Such missions require a large aircraft for endurance and a small aircraft for manoeuvrability in a building.<br/><br/>This paper proposes a...
master thesis 2022
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Kemmeren, Max (author)
As the application areas of Unmanned Aerial Vehicles (UAVs) keep expanding, new flight areas are encountered more often. Small UAVs, named Micro Air Vehicles (MAVs), even fly in areas like sewage pipes. These areas introduce new difficulties such as aerodynamic effects caused by the ground and/or ceiling. In this paper two main contributions are...
master thesis 2021
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Sharma, Suresh (author)
This work presents a vector field based path following method to be used by Multirotor Unmanned Aerial Vehicles (UAVs). The desired path to be followed is a smooth planar path defined in its implicit form. The vector field around the desired path is then constructed using the implicit function, such that the integral curves of the vector field...
master thesis 2018
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Van der Sman, E.S. (author)
Maintaining stable flight during high turbulence intensities is challenging for fixed-wing micro air vehicles. Two methods have been identified to improve the disturbance rejection performance of the MAV: incremental nonlinear dynamic inversion and phase-advanced pitch probes. Incremental nonlinear dynamic inversion uses the angular acceleration...
master thesis 2016
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