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This paper presents development of a quad rotor tail-sitter VTOL UAV (Vertical Takeoff and Landing Unmanned Aerial Vehicle) which is composed of four rotors and a fixed wing. The conventional VTOL UAVs have a drawback in the accuracy of the attitude control in stationary hovering because they were developed based on a fixed-wing aircraft and they used the control surfaces, such as aileron, elevator,...
In this paper, we present the design and concept of a quad rotor tail-sitter UAV (unmanned aerial vehicle). The designed UAV is composed of quad rotors and a fixed wing. It can hover like a helicopter, and can cruise like a fixed wing airplane. In order to verify this concept, a simulator of a quad rotor tail-sitter UAV is developed. Simulation results show the advantage in energy efficiency of the...
For a four-rotor mini helicopter, an adaptive controller is presented based on Immersion and Invariance (I&I) approach. Although there are many aerodynamic coefficients such as thrust coefficients and drag coefficients with uncertainty in the model, a new parameterization with a fewer uncertain coefficients is developed to simplify the complex multivariable parameter adaptation. It is shown that...
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