Modeling and position control of a new quad-rotor unmanned aerial vehicle with tilt-wing mechanism

In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for the vertical flight mode has also been developed and its performance has been tested with several simulations

Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism

In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for the vertical flight mode has also been developed and its performance has been tested with several simulations

Mathematical modeling and vertical flight control of a tilt-wing UAV

This paper presents a mathematical model and vertical flight control algorithms for a new tilt-wing unmanned aerial vehicle (UAV). The vehicle is capable of vertical take-off and landing (VTOL). Due to its tilt-wing structure, it can also fly horizontally. The mathematical model of the vehicle is obtained using Newton-Euler formulation. A gravity compensated PID controller is designed for altitude control, and three PID controllers are designed for attitude stabilization of the vehicle. Performances of these controllers are found to be quite satisfactory as demonstrated by indoor and outdoor flight experiments

Linear parameter varying feedforward control synthesis using parameter-dependent Lyapunov function

ALTUN, Yusuf/0000-0002-2099-0959WOS: 000345029500001This paper presents the dynamic feedforward control synthesis for linear parameter varying (LPV) systems. It is assumed that all system matrices are dependent on varying parameters, which are measurable with sensor or observable. The parameters have bounded variation rates. Parameter-dependent Lyapunov function is used for the feedforward control synthesis such that the robust stability is assured for all varying parameters at the time of the operation. The method is formulated in terms of linear matrix inequalities for LPV feedforward controller that guarantees the stability of the transfer matrix having -gain. This compensator is designed by adding on the feedback controller in two degrees of freedom control configuration. This controller can be used for the disturbance attenuation or decreasing the tracking error. The numerical examples and simulations are given to provide the applicability of the proposed solution

Continuous Monitoring of Water Quality Using Portable and Low-Cost Approaches

Water quality refers to the physical, chemical, and biological characteristics of water, and it is a measure of the condition of water relative to any human need or purpose. A particular problem with measuring the condition of water quality at drinking water reservoirs is the requirement of collecting a large number of samples. To handle this problem, we focus on the practical use of two different portable and low-cost approaches for continuous monitoring of water quality: miniboats loaded with sondes with probes and wireless sensor network-(WSN-) based monitoring system. These approaches bring several advantages over traditional monitoring systems in terms of cost, portability, and applicability. Our simulation studies show that these systems can be used to monitor water quality at drinking water reservoirs such as dams and holding ponds. Field tests to prove the effectiveness of the proposed systems are in progress

Nonlinear Speed Controller Supported by Direct Torque Control Algorithm and Space Vector Modulation for Induction Motors in Electrical Vehicles

Energy mode functions and their inverse signal dynamics can be used for the design of controllers in classical control algorithms, which use the error signals of related system parameters in general mode. Different from this common approach, Lyapunov function-based controller design is preferred and motor mechanical speed parameter is incorporated into the control operation in this study. The results of the experimental studies conducted for this study prove that when both electrical and mechanical parameters of the system are taken into consideration, the proposed controller, nonlinear speed controller supported by direct torque controller and space vector modulation, performs better than classical controllers and can be realized successfully

Yeni Bir İnsansız Hava Aracının (SUAVi) Mekanik ve Aerodinamik Tasarımı

Bu çalısmada, dört-döner rotoru ile helikopter gibi dikine kalkıs ve inis yapabilen aynı zamanda da uçak gibi uzun menzil yatay uçus yeteneğine sahip yeni bir insansız otonom hava aracının mekanik ve aerodinamik tasarımı anlatılmıstır. Ayrıca, donanım seçimi sırasında yapılan deneyler ve sonuçları, aerodinamik ve mekanik tasarım tasarım süreci içinde yapılan sonlu elemanlar analizlerinin sonuçları da sunulmustur. Yapılan hesaplar öngörüldüğü üzere tasarlanan insansız hava aracının basarılı bir sekilde dikey uçus kipinde yaklasık 25 dakika, yatay uçus kipinde ise 2 saat havada kalabileceğini göstermektedir