Equilibrium Transition Study for a Hybrid MAV

Wind tunnel testing was performed on a VTOL aircraft in order to characterize longitudinal flight behavior during a transition between vertical and horizontal flight modes. Trim values for airspeed, pitch, motor speed and elevator position were determined. Data was collected by independently varying the trim parameters, and stability and control...

Improving the computational efficiency of ROVIO

ROVIO is one of the state-of-the-art mono visual inertial odometry algorithms. It uses an Iterative Extended Kalman Filter (IEKF) to align features and update the vehicle state simultaneously by including the feature locations in the state vector of the IEKF. This algorithm is single core intensive, which allows using the other cores for other...

Preface

INDI Control for the ObliqueWing-Quad Plane Drone

A type of UAV sharing the advantages of rotorcraft and fixed wing vehicles is the hybrid vehicle. Hybrid UAVs can take-off and land vertically and fly fast and efficient in forward flight due to the presence of a wing generating lift. However, combining the fixed wing and rotorcraft concept ends up in a multi-rotor with large dimensions when...

Design and joint control of a conjoined biplane and quadrotor

Unmanned Aerial Vehicles (UAVs) have the potential to perform many different missions, some of which may require a large aircraft for endurance and a small aircraft for manoeuvrability in a building. This paper proposes a novel combination of a quadrotor and a hybrid biplane capable of joint hover, joint forward flight, and mid-air disassembly...

Flight code convergence: fixedwing, rotorcraft, hybrid

Rotorcraft, fixed wing and hybrid Unmanned Air Vehicles (UAV) each have applications in which they excel. Traditionally, dedicated autopilot control code is written to accommodate flight of each UAV type. This causes fragmentation of control code and may lead to performance differences or errors. In this paper, we propose to use the same INDI...

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...

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...

Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control

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...