Hegde, Navya Thirumaleshwar and George, V I and Nayak, Gurudas C and Kumar, Kamalesh (2020) Design, dynamic modelling and control of tilt-rotor UAVs: A review. International Journal of Intelligent Unmanned Systems. pp. 143-161. ISSN 2049-6435

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Abstract

Purpose – The purpose of this paper is to give reviews on the platform modeling and design of a controller for autonomous vertical take-off and landing (VTOL) tilt rotor hybrid unmanned aerial vehicles (UAVs). Nowadays, UAVshaveexperiencedremarkableprogressandcanbeclassifiedintotwomaintypes,i.e.fixedwing UAVs and VTOL UAVs. The mathematical model of tilt rotor UAV is time variant, multivariable and non-linear in nature. Solving and understanding these plant models is very complex. Developing a control algorithm to improve the performance and stability of a UAV is a challenging task. Design/methodology/approach – ThispapergivesathoroughdescriptiononmodelingofVTOLtiltrotor UAVfromfirstprincipletheory.Thereviewofthedesignofbothlinearandnon-linearcontrolalgorithmsare explained in detail. The robust flight controller for the six degrees of freedom UAV has been designed using H-infinity optimization with loop shaping under external wind and aerodynamic disturbances. Findings – This review will act as a basis for the future work on modeling and control of VTOL tilt rotor UAV by the researchers. The development of self-guided and fully autonomous UAVs would result in reducing the risk to human life. Civil applications include inspection of rescue teams, terrain, coasts, border patrol buildings, police and pipelines. The simulation results show that the controller achieves robust stability, good adaptability and robust performance. Originality/value – The review articles on quadrotors/quadcopters, hybrid UAVs can be found in many literature, but there are comparatively a lesser amount of reviewarticles on the detailed description of VTOL TiltrotorUAV.Inthispapermodeling, plat formdesignandcontrolalgorithmsforthetiltrotorarepresented. A robust H-infinity loop shaping controller in the presence of disturbances is designed for VTOL UAV

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