Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control

Tomoyuki Magariyama; Satoko Abiko

doi:10.1109/AIM43001.2020.9158965

Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control

Tomoyuki Magariyama, Satoko Abiko

Functional Control Systems

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

4 Citations (Scopus)

Abstract

This paper proposes a seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control. The quad tilt-rotor UAV enables independent position and attitude control by additional actuators for changing the thrust directions. Therefore, the quad tilt-rotor UAV can hover with different attitudes. However, in the previous research, because the two attitude controls are switched in large attitude transition, the difficulty in certain tilting attitudes were observed. This study aims at developing a control method for realizing a seamless attitude transition flight under full position control. The flight experiment verifies the proposed method.

Original language	English
Title of host publication	2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	839-844
Number of pages	6
ISBN (Electronic)	9781728167947
DOIs	https://doi.org/10.1109/AIM43001.2020.9158965
Publication status	Published - 2020 Jul
Event	2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States Duration: 2020 Jul 6 → 2020 Jul 9

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2020-July

Conference

Conference	2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Country/Territory	United States
City	Boston
Period	20/7/6 → 20/7/9

Keywords

Independent position and attitude control
Quad tilt-rotor UAV
Seamless attitude transition flight

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

Access to Document

10.1109/AIM43001.2020.9158965

Cite this

Magariyama, T., & Abiko, S. (2020). Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control. In 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 (pp. 839-844). [9158965] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2020-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM43001.2020.9158965

Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control. / Magariyama, Tomoyuki; Abiko, Satoko.

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 839-844 9158965 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2020-July).

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

Magariyama, T & Abiko, S 2020, Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control. in 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020., 9158965, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2020-July, Institute of Electrical and Electronics Engineers Inc., pp. 839-844, 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020, Boston, United States, 20/7/6. https://doi.org/10.1109/AIM43001.2020.9158965

Magariyama T, Abiko S. Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control. In 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 839-844. 9158965. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM43001.2020.9158965

Magariyama, Tomoyuki ; Abiko, Satoko. / Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control. 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 839-844 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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title = "Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control",

abstract = "This paper proposes a seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control. The quad tilt-rotor UAV enables independent position and attitude control by additional actuators for changing the thrust directions. Therefore, the quad tilt-rotor UAV can hover with different attitudes. However, in the previous research, because the two attitude controls are switched in large attitude transition, the difficulty in certain tilting attitudes were observed. This study aims at developing a control method for realizing a seamless attitude transition flight under full position control. The flight experiment verifies the proposed method.",

keywords = "Independent position and attitude control, Quad tilt-rotor UAV, Seamless attitude transition flight",

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note = "Funding Information: This work was supported by JSPS KAKENHI Grant Number 16K18054. Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 ; Conference date: 06-07-2020 Through 09-07-2020",

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Seamless 90-degree attitude transition flight of a quad tilt-rotor UAV under full position control

Abstract

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Keywords

ASJC Scopus subject areas

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