Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation

Hybrid Unmanned Aerial Vehicles UAV are vehicles capable of take-off and landing vertically like helicopters while maintaining the long-range efficiency of fixed-wing aircraft. Unfortunately, due to their wing area, these vehicles are sensitive to wind gusts when hovering. One way to increase the hovering wind-rejection capabilities of hybrid...

Dual-axis tilting rotor quad-plane design, simulation, flight and performance comparison with a conventional quad-plane design

In the last few decades, the UAV research has been focusing on hybrid vehicles with Vertical Takeoff and Landing (VTOL) capabilities. Opposed to copters, hybrid vehicles are highly influenced by wind disturbances. This paper presents a novel quad-plane design that uses four dual-axis tilting rotors to enhance the wind rejection capability of...