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Journal articles on the topic 'Quad-rotor helicopters'

Author: Grafiati

Published: 4 June 2021

Last updated: 2 February 2022

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1

Wang, Jialiang, Hai Zhao, Yuanguo Bi, Shiliang Shao, Qian Liu, Xingchi Chen, Ruofan Zeng, Yu Wang, and Le Ha. "An Improved Fast Flocking Algorithm with Obstacle Avoidance for Multiagent Dynamic Systems." Journal of Applied Mathematics 2014 (2014): 1–13. http://dx.doi.org/10.1155/2014/659805.

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Flocking behavior is a common phenomenon in nature, such as flocks of birds and groups of fish. In order to make the agents effectively avoid obstacles and fast form flocking towards the direction of destination point, this paper proposes a fast multiagent obstacle avoidance (FMOA) algorithm. FMOA is illustrated based on the status of whether the flocking has formed. If flocking has not formed, agents should avoid the obstacles toward the direction of target. If otherwise, these agents have reached the state of lattice and then these agents only need to avoid the obstacles and ignore the direction of target. The experimental results show that the proposed FMOA algorithm has better performance in terms of flocking path length. Furthermore, the proposed FMOA algorithm is applied to the formation flying of quad-rotor helicopters. Compared with other technologies to perform the localization of quad-rotor helicopter, this paper innovatively constructs a smart environment by deploying some wireless sensor network (WSN) nodes using the proposed localization algorithm. Finally, the proposed FMOA algorithm is used to conduct the formation flying of these quad-rotor helicopters in the smart environment.

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2

Okyere, Emmanuel, Amar Bousbaine, Gwangtim T. Poyi, Ajay K. Joseph, and Jose M. Andrade. "LQR controller design for quad-rotor helicopters." Journal of Engineering 2019, no. 17 (June 1, 2019): 4003–7. http://dx.doi.org/10.1049/joe.2018.8126.

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3

Izadi, Hojjat A., Youmin Zhang, and Brandon W. Gordon. "Fault Tolerant Model Predictive Control of Quad-Rotor Helicopters with Actuator Fault Estimation." IFAC Proceedings Volumes 44, no. 1 (January 2011): 6343–48. http://dx.doi.org/10.3182/20110828-6-it-1002.03709.

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4

MORI, Keita, Katsuya HOTTA, and Manabu YAMADA. "Adaptive H^|^infin; Tracking Control for Quad-rotor Helicopters Based on Input-output Linearization." Transactions of the Society of Instrument and Control Engineers 50, no. 11 (2014): 784–91. http://dx.doi.org/10.9746/sicetr.50.784.

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5

Bautista-Medina, José Antonio, Rogelio Lozano, and Antonio Osorio-Cordero. "Modeling and Control of a Single Rotor Composed of Two Fixed Wing Airplanes." Drones 5, no. 3 (September 8, 2021): 92. http://dx.doi.org/10.3390/drones5030092.

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This paper proposes a simple flying rotor prototype composed of two small airplanes attached to each other with a rigid rod so that they can rotate around themselves. The prototype is intended to perform hover flights with more autonomy than existing classic helicopters or quad-rotors. Given that the two airplanes can fly apart from each other, the induced flow which normally appears in rotorcrafts will be significantly reduced. The issue that is addressed in the paper is how this flying rotor prototype can be modeled and controlled. A model of the prototype is obtained by computing the kinetic and potential energies and applying the Euler Lagrange equations. Furthermore, in order to simplify the equations, it has been considered that the yaw angular displacement evolves much faster than the other variables. Furthermore a study is presented to virtually create a swashplate which is a central mechanism in helicopters. Such virtual swashplate is created by introducing a sinusoidal control on the airplanes’ elevators. The torque amplitude will be proportional to the sinusoidal amplitude and the direction will be determined by the phase of the sinusoidal. A simple nonlinear control algorithm is proposed and its performance is tested in numerical simulations.

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6

Penkov, I., and D. Aleksandrov. "Analysis and study of the influence of the geometrical parameters of mini unmanned quad-rotor helicopters to optimise energy saving." INTERNATIONAL JOURNAL OF AUTOMOTIVE AND MECHANICAL ENGINEERING 14, no. 4 (December 30, 2017): 4730–46. http://dx.doi.org/10.15282/ijame.14.4.2017.11.0372.

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7

Hayakawa, Hayami, Shogo Obata, and Manabu Yamada. "Tracking control of quad-rotor helicopters suspended a power supply cable with online estimation of disturbances based on input-output linearisation." International Journal of Advanced Mechatronic Systems 7, no. 2 (2016): 114. http://dx.doi.org/10.1504/ijamechs.2016.082629.

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8

Yamada, Manabu, Shogo Obata, and Hayami Hayakawa. "Tracking control of quad-rotor helicopters suspended a power supply cable with online estimation of disturbances based on input-output linearisation." International Journal of Advanced Mechatronic Systems 7, no. 2 (2016): 114. http://dx.doi.org/10.1504/ijamechs.2016.10003629.

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9

Wang, Jialiang, Jianli Ding, Weidong Cao, Quanfu Li, and Hai Zhao. "Neural network fuzzy control for enhancing the stability performance of quad-rotor helicopter." Transactions of the Institute of Measurement and Control 40, no. 11 (December 14, 2017): 3333–44. http://dx.doi.org/10.1177/0142331217713837.

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Recently, the quad-rotor helicopter has gained increasing attention owing to its very good flexibility, its ability to execute various flight missions even in harsh environments. The quad-rotor helicopter can implement different fight attitudes, which is attributed to the effective control of the motor speed about four propellers. In order to make the quad-rotor helicopter can better finish flight mission, the performance of flight stability then becomes particularly important. A neural network fuzzy control algorithm is proposed in this paper so as to guarantee the stability performance of the quad-rotor helicopter. The proposed algorithm is based on the neural network, which keeps the self-organization and self-learning ability, besides this, it utilizes the strong impression ability of constitutive knowledge as to the fuzzy logic. The proposed control scheme aims to implement good abilities such as describing qualitative knowledge, strong learning mechanism and direct processing about quantitative data of the quad-rotor helicopter. In the practical flight process of the quad-rotor helicopter, while the deviation of position and attitude information become larger, fuzzy control is adopted so as to shorten the overshoot and adjustment time. On the other hand, if the deviation of position and attitude become relatively smaller, neural network PID control will be used so as to reduce the error. Experimental results show that the proposed neural network fuzzy control algorithm exhibits good performance in the flight process of the quad-rotor helicopter.

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10

Wang, Jialiang, Hai Zhao, Yuanguo Bi, Xingchi Chen, Ruofan Zeng, and Shiliang Shao. "Quad-Rotor Helicopter Autonomous Navigation Based on Vanishing Point Algorithm." Journal of Applied Mathematics 2014 (2014): 1–12. http://dx.doi.org/10.1155/2014/567057.

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Quad-rotor helicopter is becoming popular increasingly as they can well implement many flight missions in more challenging environments, with lower risk of damaging itself and its surroundings. They are employed in many applications, from military operations to civilian tasks. Quad-rotor helicopter autonomous navigation based on the vanishing point fast estimation (VPFE) algorithm using clustering principle is implemented in this paper. For images collected by the camera of quad-rotor helicopter, the system executes the process of preprocessing of image, deleting noise interference, edge extracting using Canny operator, and extracting straight lines by randomized hough transformation (RHT) method. Then system obtains the position of vanishing point and regards it as destination point and finally controls the autonomous navigation of the quad-rotor helicopter by continuous modification according to the calculated navigation error. The experimental results show that the quad-rotor helicopter can implement the destination navigation well in the indoor environment.

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11

Miwa, Masafumi, Shinji Uemura, and Akitaka Imamura. "Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter." Journal of Robotics and Mechatronics 28, no. 3 (June 17, 2016): 328–33. http://dx.doi.org/10.20965/jrm.2016.p0328.

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[abstFig src='/00280003/08.jpg' width=""300"" text='Arbitrary attitude hovering' ] The quad tilt rotor helicopter (QTRH), a tilt-rotor aircraft prototype, has fixed wings for long-range high-speed flight. Its rotor-tilt mechanism controls 4 rotor-tilt angles independently and controls its roll and pitch angles similarly to a multirotor helicopter. It controls yaw angle by thrust vectoring and moves forward and backward by tilting its rotors. Rotor-tilting maneuvers are the initial stage of flight-mode transition between helicopter and fixed-wing modes.

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12

Imamura, Akitaka, Yasuyuki Urashiri, Masafumi Miwa, and Junichiro Hino. "Flight Characteristics of Quad Rotor Helicopter with Tilting Rotor." Journal of Instrumentation, Automation and Systems 1, no. 2 (November 25, 2015): 56–63. http://dx.doi.org/10.21535/jias.v1i2.157.

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13

UEMURA, Shinji, and MIWA.Masafumi. "802 Flight Control of Quad Tilt Rotor Helicopter." Proceedings of Conference of Chugoku-Shikoku Branch 2015.53 (2015): _802–1_—_802–2_. http://dx.doi.org/10.1299/jsmecs.2015.53._802-1_.

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14

Sumantri, Bambang, Naoki Uchiyama, and Shigenori Sano. "Generalized super-twisting sliding mode control with a nonlinear sliding surface for robust and energy-efficient controller of a quad-rotor helicopter." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 231, no. 11 (March 4, 2016): 2042–53. http://dx.doi.org/10.1177/0954406216628897.

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This paper proposes a time-varying sliding surface for a second-order sliding mode controller to improve the control performance and energy efficiency of a quad-rotor helicopter. The time-varying sliding surface is designed with a nonlinear function to provide varying properties of the closed-loop dynamics in order to reduce energy consumption. It is shown that the second-order sliding mode technique, known as a generalized super twisting algorithm, providing a robust controller and a nonlinear sliding surface is effective in reducing the energy consumption. A Lyapunov stability analysis is described to prove the stability of the proposed method. The effectiveness and reliability of the proposed method are evaluated by performing experiments several times using a quad-rotor helicopter experimental testbed under wind disturbance.

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15

MIYASHITA, Ryo, Shigeru SUNADA, Yasutada TANABE, and Takashi AOYAMA. "Comparison between a Single Rotor Helicopter and a Quad Rotor UAV." JOURNAL OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES 62, no. 6 (2014): 193–97. http://dx.doi.org/10.2322/jjsass.62.193.

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16

Naidoo, Yogianandh, Riaan Stopforth, and Glen Bright. "Quad-Rotor Unmanned Aerial Vehicle Helicopter Modelling & Control." International Journal of Advanced Robotic Systems 8, no. 4 (January 2011): 45. http://dx.doi.org/10.5772/45710.

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17

Lai, Li-Chun, Chi-Ching Yang, and Chia-Ju Wu. "Time-Optimal Control of a Hovering Quad-Rotor Helicopter." Journal of Intelligent and Robotic Systems 45, no. 2 (February 2006): 115–35. http://dx.doi.org/10.1007/s10846-005-9015-3.

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18

TOKUOKA, Ryo, and Masafumi MIWA. "2A2-F07 Emergency Landing Control of Quad rotor helicopter with 1 Broken Rotor." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _2A2—F07_1—_2A2—F07_3. http://dx.doi.org/10.1299/jsmermd.2015._2a2-f07_1.

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19

Imamura, Akitaka, Masafumi Miwa, and Junichi Hino. "Flight Characteristics of Quad Rotor Helicopter with Thrust Vectoring Equipment." Journal of Robotics and Mechatronics 28, no. 3 (June 17, 2016): 334–42. http://dx.doi.org/10.20965/jrm.2016.p0334.

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[abstFig src='/00280003/09.jpg' width=""300"" text='Thrust vectoring mechanisms for WRH' ] A quad rotor helicopter (QRH) is a radio controlled (RC) aircraft that tilts its attitude to generate a horizontal force component to move in a certain direction. Using autonomous control, the attitude control system tilts the airframe against disturbances, such as wind. Thus, the attitude of a flying QRH is always slanted. In this study, three types of deflecting thruster were compared to maintain the position and horizontal attitude of the QRH. The extra thrusters are tilted to generate a thrust against disturbances without causing the airframe to incline. It is suitable for precise measurements for which the airframe posture should remain horizontal.

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20

Sostaric, Damir. "Modeling, control and navigation of an autonomous quad-rotor helicopter." Interdisciplinary Description of Complex Systems 14, no. 3 (2016): 324–32. http://dx.doi.org/10.7906/indecs.14.3.5.

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21

Ishihara, Yasuyuki, Won-kyung Jang, Takashi YAMASHITA, Yuki SHIGEMATSU, and Masahumi MIWA. "912 Attitude control of quad rotor helicopter using ducted fan." Proceedings of Conference of Chugoku-Shikoku Branch 2012.50 (2012): 91201–2. http://dx.doi.org/10.1299/jsmecs.2012.50.91201.

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22

KUNOU, Shingo, Shinji UEMURA, and Akifumi MIWA. "905 Attitude Control of Quad-Rotor Helicopter with Mass Balance." Proceedings of Conference of Chugoku-Shikoku Branch 2013.51 (2013): _905–1_—_905–2_. http://dx.doi.org/10.1299/jsmecs.2013.51._905-1_.

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23

ZHAO Hai, 赵海, 陈星池 CHEN Xing-chi, 王家亮 WANG Jia-liang, and 曾若凡 ZENG Ruo-fan. "Obstacle avoidance algorithm based on monocular vision for quad-rotor helicopter." Optics and Precision Engineering 22, no. 8 (2014): 2232–41. http://dx.doi.org/10.3788/ope.20142208.2232.

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24

Chen, Fuyang, Wen Lei, Gang Tao, and Bin Jiang. "Actuator Fault Estimation and Reconfiguration Control for the Quad-Rotor Helicopter." International Journal of Advanced Robotic Systems 13, no. 1 (January 2016): 33. http://dx.doi.org/10.5772/62224.

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25

Raffo, Guilherme V., Manuel G. Ortega, and Francisco R. Rubio. "Robust Nonlinear Control for Path Tracking of a Quad-Rotor Helicopter." Asian Journal of Control 17, no. 1 (December 18, 2013): 142–56. http://dx.doi.org/10.1002/asjc.823.

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26

Raffo, Guilherme V., Manuel G. Ortega, and Francisco R. Rubio. "Nonlinear H∞ Controller for the Quad-Rotor Helicopter with Input Coupling*." IFAC Proceedings Volumes 44, no. 1 (January 2011): 13834–39. http://dx.doi.org/10.3182/20110828-6-it-1002.02453.

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27

Zhao, Ying, and Jian Xu Yang. "The Design of Mini Quad-Rotor Unmanned Aerial Vehicle Control System." Advanced Materials Research 383-390 (November 2011): 569–73. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.569.

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In this paper we describe a small four-rotor UAV's autonomous flight control system. A comprehensive plan of flight control system was designed base on the remote control model aircraft for flight platform, and Completed with AVR microcontroller core flight control system software and hardware design. It including device type, hardware circuit design and software design. Preliminary study of the four rotor while the helicopter flight control program design, For the future to perform more complex tasks such as fixed-point flight, obstacle avoidance and coordination of multiple aircraft flying and so lay a foundation.

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28

Zhou, Pan, Renliang Chen, and Zhiming Yu. "Analysis on controllability and stability of quad-tilt-rotor aircraft in helicopter mode." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 39, no. 3 (June 2021): 675–84. http://dx.doi.org/10.1051/jnwpu/20213930675.

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The controllability and stability of quad-tilt-rotor aircraft in helicopter mode are modeled and analyzed, which will provide a theoretical guidance for the subsequent control system design. First of all, the flight dynamics model is established considering rotor-wing interference and verified with relevant experiments. Then, a control strategy for helicopter mode is proposed with trim characteristic analysis. Finally, corresponding control efficiency and cross coupling are calculated and analyzed along with characteristics of the stability derivatives and eigenvalues. The results show that the value of heading control efficiency is much smaller than that of other channels. The longitudinal force and pitch moment caused by vertical control input increase with the increase of the velocity. Yawing moment caused by lateral control input shows similar variations. The velocity stability becomes worse with the increase of the velocity. The stability of all other modes is augmented as velocity increases except the spiral mode.

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29

Akbar, Reesa, Bambang Sumantri, Hitoshi Katayama, Shigenori Sano, and Naoki Uchiyama. "Reduced-Order Observer Based Sliding Mode Control for a Quad-Rotor Helicopter." Journal of Robotics and Mechatronics 28, no. 3 (June 17, 2016): 304–13. http://dx.doi.org/10.20965/jrm.2016.p0304.

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[abstFig src='/00280003/05.jpg' width=""230"" text='Quadcopter for repeated control verification' ] The reduced-order observer design we present estimates the velocity states of a quadrotor helicopter, or quadcopter, based on sampled measurements of position and attitude states. This observer is based on the forward-differentiation Euler model. The observer is robust enough against observation noise that the gain of a closed-loop controller is high enough to improve control performance. A sliding-mode controller stabilizes and implements quadcopter tracking control effectively, as is verified experimentally when compared to a conventional backward-difference method.

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30

Tuck, Loughlin E., Claire Samson, Jeremy Laliberté, and Michael Cunningham. "Magnetic interference mapping of four types of unmanned aircraft systems intended for aeromagnetic surveying." Geoscientific Instrumentation, Methods and Data Systems 10, no. 1 (May 19, 2021): 101–12. http://dx.doi.org/10.5194/gi-10-101-2021.

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Abstract. Magnetic interference source identification is a critical preparation step for magnetometer-mounted unmanned aircraft systems (UAS) used for high-sensitivity geomagnetic surveying. A magnetic field scanner was built for mapping the low-frequency interference that is produced by a UAS. It was used to compare four types of electric-powered UAS capable of carrying an alkali-vapour magnetometer: (1) a single-motor fixed-wing, (2) a single-rotor helicopter, (3) a quad-rotor helicopter, and (4) a hexa-rotor helicopter. The scanner's error was estimated by calculating the root-mean-square deviation of the background total magnetic intensity over the mapping duration; averaged values ranged between 3.1 and 7.4 nT. Each mapping was performed above the UAS with the motor(s) engaged and with the UAS facing in two orthogonal directions; peak interference intensities ranged between 21.4 and 574.2 nT. For each system, the interference is a combination of both ferromagnetic and electrical current sources. Major sources of interference were identified such as servo(s) and the cables carrying direct current between the motor battery and the electronic speed controller. Magnetic intensity profiles were measured at various motor current draws for each UAS, and a change in intensity was observed for currents as low as 1 A.

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31

JANG, Won-kyung, and MASAHUMI Miwa. "913 Location Control System using Laser-Guide-Beam for Quad Rotor Helicopter." Proceedings of Conference of Chugoku-Shikoku Branch 2012.50 (2012): 91301–2. http://dx.doi.org/10.1299/jsmecs.2012.50.91301.

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32

Kawabata, Yuma, Naoki Uchiyama, Shigenori Sano, and Bambang Sumantri. "622 Sliding mode control for a quad-rotor helicopter and robustness verification." Proceedings of Conference of Tokai Branch 2013.62 (2013): 377–78. http://dx.doi.org/10.1299/jsmetokai.2013.62.377.

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33

KUNOU, Shingo, Masafumi Miwa, and Hirofumi NIIMI. "1A1-F08 Quad Rotor Control by Centroid shifting : A Humanoid Robot Rides on a Quad Rotor Helicopter(Aerial Robot and Mechatronics (1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _1A1—F08_1—_1A1—F08_2. http://dx.doi.org/10.1299/jsmermd.2013._1a1-f08_1.

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34

Raffo, Guilherme V., Manuel G. Ortega, and Francisco R. Rubio. "MPC with Nonlinear ℋ∞ Control for Path Tracking of a Quad-Rotor Helicopter." IFAC Proceedings Volumes 41, no. 2 (2008): 8564–69. http://dx.doi.org/10.3182/20080706-5-kr-1001.01448.

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35

Dief, Tarek Naem, Mohamed M. Kamra, and Shigeo Yoshida. "Modeling, System Identification and PID-A Controller for Tethered Unmanned Quad-Rotor Helicopter." International Review of Aerospace Engineering (IREASE) 10, no. 4 (August 31, 2017): 215. http://dx.doi.org/10.15866/irease.v10i4.12589.

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36

Topalov, Andon V., Nikola G. Shakev, Okyay Kaynak, and Erdal Kayacan. "Neuro-adaptive Approach for Controlling a Quad-rotor Helicopter Using Sliding Mode Learning Algorithm." IFAC Proceedings Volumes 43, no. 10 (2010): 94–99. http://dx.doi.org/10.3182/20100826-3-tr-4015.00020.

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37

Wang, Jialiang, Jianli Ding, Guo Li, Weidong Cao, Chunbo Liu, and Hai Zhao. "High-performance software control platform designed for the autonomous navigation of quad-rotor helicopter." Advances in Mechanical Engineering 8, no. 9 (September 2016): 168781401666963. http://dx.doi.org/10.1177/1687814016669633.

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38

MINOTANI, Masaaki, and Atsushi IMADU. "2A1-F10 Study on Control of Quad-rotor Helicopter which is hanged by cable." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _2A1—F10_1—_2A1—F10_4. http://dx.doi.org/10.1299/jsmermd.2015._2a1-f10_1.

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39

Huang, Pei-Hua, and Osamu Hasegawa. "Learning Quadcopter Maneuvers with Concurrent Methods of Policy Optimization." Journal of Advanced Computational Intelligence and Intelligent Informatics 21, no. 4 (July 20, 2017): 639–49. http://dx.doi.org/10.20965/jaciii.2017.p0639.

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This study presents an aerial robotic application of deep reinforcement learning that imparts an asynchronous learning framework and trust region policy optimization to a simulated quad-rotor helicopter (quadcopter) environment. In particular, we optimized a control policy asynchronously through interaction with concurrent instances of the environment. The control system was benchmarked and extended with examples to tackle continuous state-action tasks for the quadcoptor: hovering control and balancing an inverted pole. Performing these maneuvers required continuous actions for sensitive control of small acceleration changes of the quadcoptor, thereby maximizing the scalar reward of the defined tasks. The simulation results demonstrated an enhancement of the learning speed and reliability for the tasks.

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40

Mylapore, Anand Radhakrishnan, and Fredric H. Schmitz. "An Experimental Investigation of Ground Effect on a Quad Tilt Rotor in Hover." Journal of the American Helicopter Society 60, no. 1 (January 1, 2015): 1–14. http://dx.doi.org/10.4050/jahs.60.012002.

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The performance of a 0.031 geometrically scaled fuselage/wing model of a Quad Tilt Rotor (QTR) operating in helicopter mode while hovering in-ground effect (IGE) and out-of-ground effect (OGE) was experimentally studied. The effect of ground proximity was tested by varying the height of the model above the ground. Measurements included download on the airframe; thrust, torque, and rpm of the rotors; and static pressures along the centerline of the bottom of the fuselage. Fixedpitch propellers were used to model the rotors. The downwash distributions of the rotors were measured and compared well with large-scale V-22 rotor measurements. Tuft flow visualization was used to identify the physical processes causing changes in the download and static pressure measurements. The uncertainty of the measured quantities was determined to 95% confidence levels. A significant download (9 ± 0.5% of the rotor thrust) was observed in hover, OGE. The download reduced substantially IGE and become an upload (8.5 ± 0.5% of the rotor thrust) when the wheels of the QTR were on the ground. Flow visualization and pressure measurements suggest that the upload IGE is caused by the interaction of the wakes from the four rotors that are turned parallel to the ground and meet under the fuselage. The measured download, coupled with power measurements, indicate that for a given power the available vehicle thrust significantly increases IGE.

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41

Thirumaleshwar Hegde, Navya, V. I. George, C. Gurudas Nayak, and Kamlesh Kumar. "Transition flight modeling and robust control of a VTOL unmanned quad tilt-rotor aerial vehicle." Indonesian Journal of Electrical Engineering and Computer Science 18, no. 3 (June 1, 2020): 1252. http://dx.doi.org/10.11591/ijeecs.v18.i3.pp1252-1261.

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<span>The development of fully autonomous Unmanned Aerial Vehicles (UAV) plays a major contribution towards reducing the risk to human life in various applications including rescue teams, border patrol, police and inspection of buildings, pipelines, coasts, and terrains. Tiltrotor hybrid UAV exhibit special application value due to its unique rotor structure. The variation in the model dynamics and aerodynamics due to the tilting rotors are the major key issues and challenges which attracted the attention of many researchers. This vehicle combines the hovering capabilities of a helicopter along with the high-speed cruise capabilities of a conventional airplane by tilting its four rotors. In the present research work, the authors attempt to model a quad tilt rotor UAV using Newton-Euler formulation. A dynamic model of the vehicle is derived mathematically for horizontal, vertical and transition flight modes. A robust H-infinity control strategy is proposed, evaluated and analyzed through simulation to control the flight dynamics of the different modes of the UAV. Simulation results shows that the tiltrotor UAV achieves transition successfully.</span>

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42

Yu, Fangjie, Yunfei Liu, Longqing Fan, Linhua Li, Yong Han, and Ge Chen. "Design and implementation of atmospheric multi-parameter sensor for UAV-based aerosol distribution detection." Sensor Review 37, no. 2 (March 20, 2017): 196–210. http://dx.doi.org/10.1108/sr-09-2016-0199.

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Purpose In this paper, a light-weight, low-power atmospheric multi-parameter sensor (AMPS), which could be mounted on small flying platforms such as a tethered balloon, a quad-rotor unmanned aerial vehicle (UAV), a UAV helicopter, etc., is implemented and integrated to sample vertical distribution of aerosols with integrated parameters of aerosol particle concentration, temperature, relative humidity and atmospheric pressure. Design/methodology/approach The AMPS integrates three kinds of probes in an embedded system. A synchronous method based on GPS is proposed to drive the laser aerosol particle sensor, the temperature and humidity probe and the pressure probe to sample four channels approximately simultaneously. Different kinds of housing are designed to accommodate various flying platforms, and the weight is controlled to adapt the payload of each platform. Findings A series of validation tests show that while the AMPS achieves high precision, its power consumption is less than 1.3 W, which is essential for light flying platforms. The AMPS was mounted on different flying platforms and the difference was evaluated. For three times every five days, vertical profiles of PM2.5 and PM10 concentrations were observed by the AMPS mounted on a quad-rotor UAV, which revealed the significant correlation between the aerosol particle concentration and atmospheric parameters. Originality/value A new light-weight and low-power AMPS for small flying platforms is designed and tested, which provides an effective way to explore the properties of aerosol vertical distribution, and to monitor pollutants flexibly.

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43

Zhao, Jing, Pu Yang, Zecheng Zhang, and Jianwei Liu. "A New Optimal Control Algorithm for Quad-rotor Helicopter with State Constraints via Sliding-mode Control." MATEC Web of Conferences 22 (2015): 03008. http://dx.doi.org/10.1051/matecconf/20152203008.

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44

Sumantri, Bambang, Naoki Uchiyama, and Shigenori Sano. "Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction." Mechanical Systems and Signal Processing 66-67 (January 2016): 769–84. http://dx.doi.org/10.1016/j.ymssp.2015.05.013.

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IMAMURA, Akitaka, Masafumi MIWA, and Jyunichi HINO. "1A2-G07 3D Measurement System by Controlled Maneuver of Quad Rotor Helicopter(Aerial Robot and Mechatronics (2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _1A2—G07_1—_1A2—G07_3. http://dx.doi.org/10.1299/jsmermd.2013._1a2-g07_1.

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SUMANTRI, Bambang, Naoki UCHIYAMA, Shigenori SANO, and Yuma KAWABATA. "Robust Tracking Control of a Quad-Rotor Helicopter Utilizing Sliding Mode Control with a Nonlinear Sliding Surface." Journal of System Design and Dynamics 7, no. 2 (2013): 226–41. http://dx.doi.org/10.1299/jsdd.7.226.

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47

Xiu, Chunbo, Jianguo Hou, Guowei Xu, and Yakun Zang. "Improved fast global sliding mode control based on the exponential reaching law." Advances in Mechanical Engineering 9, no. 2 (February 2017): 168781401668796. http://dx.doi.org/10.1177/1687814016687967.

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Abstract:

In order to improve the control performance of the global sliding mode control method, a fast global sliding mode control method is proposed to accelerate the response of the system by changing the exponential decay function in the sliding surface as an exponential bilateral decay function which can make the dynamic sliding mode surface evolve into the linear sliding mode surface in the finite time. The exponential reaching law is used to design the control law, and Lyapunov stability theory is used to prove the stability of the system. The control method proposed in this article can be applied to control the uncertain nonlinear system. Simulation results show that the method has faster response rate than the conventional global sliding mode control method. The method can be used to control the quad-rotor unmanned helicopter, and its good practicability can be verified.

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Kawabata, Yuma, Naoki Uchiyama, and Shigenori Sano. "2A2-L11 Robust control of a quad-rotor helicopter and experimental verification to disturbance(Aerial Robot and Mechatronics(2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _2A2—L11_1—_2A2—L11_2. http://dx.doi.org/10.1299/jsmermd.2012._2a2-l11_1.

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Zheng, Enhui, and Jingjing Xiong. "Quad-rotor unmanned helicopter control via novel robust terminal sliding mode controller and under-actuated system sliding mode controller." Optik 125, no. 12 (June 2014): 2817–25. http://dx.doi.org/10.1016/j.ijleo.2013.11.069.

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Kutsuna, Yuta, Makoto Ando, and Manabu Yamada. "Adaptive tracking control of quad-rotor helicopter in quaternion based on input-output linearisation with online estimation of inertia moment." International Journal of Advanced Mechatronic Systems 6, no. 5 (2015): 237. http://dx.doi.org/10.1504/ijamechs.2015.072827.

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