To Improve the Energy Efficiency: Modeling and Control for Quadrotor with Tiltable Wing

Fulin Song; Zhan Li; Hai Li; Yuan Li; Quman Xu; Bingkai Xiu

doi:10.1007/978-981-99-6501-4_10

To Improve the Energy Efficiency: Modeling and Control for Quadrotor with Tiltable Wing

Fulin Song
, Zhan Li^*
, Hai Li
, Yuan Li
, Quman Xu
, Bingkai Xiu

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
Peng Cheng Laboratory

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

Abstract

In this article, a new configuration of vertical take-off and landing (VTOL) UAV is proposed aiming at improving the energy utilize efficiency. In this configuration, a tiltable wing is installed at the center of the H-configuration quadrotor, and the orientation of the wing surface and the attitude of the quadrotor body are adjusted according to the orientation and magnitude of the target velocity. A state feedback + model feedforward flight controller capable of controlling the quadrotor with tiltable wing (QTW) throughout the entire flight envelope is proposed, without the need to switch between several mode. The performance of the proposed configuration and controller is demonstrated through a set of numerical simulations on the model of the QTW.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
Editors	Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhouping Yin, Lianqing Liu, Zhiyong Wang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	108-119
Number of pages	12
ISBN (Print)	9789819965007
DOIs	https://doi.org/10.1007/978-981-99-6501-4_10
State	Published - 2023
Event	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, China Duration: 5 Jul 2023 → 7 Jul 2023

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	14274 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Country/Territory	China
City	Hangzhou
Period	5/07/23 → 7/07/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

VTOL UAV
energy efficiency
model feedforward
quadrotor with tiltable wing

Access to Document

10.1007/978-981-99-6501-4_10

Cite this

Song, F., Li, Z., Li, H., Li, Y., Xu, Q., & Xiu, B. (2023). To Improve the Energy Efficiency: Modeling and Control for Quadrotor with Tiltable Wing. In H. Yang, J. Zou, G. Yang, X. Ouyang, H. Liu, Z. Yin, L. Liu, & Z. Wang (Eds.), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (pp. 108-119). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14274 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6501-4_10

Song, Fulin ; Li, Zhan ; Li, Hai et al. / To Improve the Energy Efficiency : Modeling and Control for Quadrotor with Tiltable Wing. Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. editor / Huayong Yang ; Jun Zou ; Geng Yang ; Xiaoping Ouyang ; Honghai Liu ; Zhouping Yin ; Lianqing Liu ; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. pp. 108-119 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "In this article, a new configuration of vertical take-off and landing (VTOL) UAV is proposed aiming at improving the energy utilize efficiency. In this configuration, a tiltable wing is installed at the center of the H-configuration quadrotor, and the orientation of the wing surface and the attitude of the quadrotor body are adjusted according to the orientation and magnitude of the target velocity. A state feedback + model feedforward flight controller capable of controlling the quadrotor with tiltable wing (QTW) throughout the entire flight envelope is proposed, without the need to switch between several mode. The performance of the proposed configuration and controller is demonstrated through a set of numerical simulations on the model of the QTW.",

keywords = "VTOL UAV, energy efficiency, model feedforward, quadrotor with tiltable wing",

author = "Fulin Song and Zhan Li and Hai Li and Yuan Li and Quman Xu and Bingkai Xiu",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

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editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhouping Yin and Lianqing Liu and Zhiyong Wang",

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Song, F, Li, Z, Li, H, Li, Y, Xu, Q & Xiu, B 2023, To Improve the Energy Efficiency: Modeling and Control for Quadrotor with Tiltable Wing. in H Yang, J Zou, G Yang, X Ouyang, H Liu, Z Yin, L Liu & Z Wang (eds), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14274 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 108-119, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, China, 5/07/23. https://doi.org/10.1007/978-981-99-6501-4_10

To Improve the Energy Efficiency: Modeling and Control for Quadrotor with Tiltable Wing. / Song, Fulin; Li, Zhan; Li, Hai et al.
Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. ed. / Huayong Yang; Jun Zou; Geng Yang; Xiaoping Ouyang; Honghai Liu; Zhouping Yin; Lianqing Liu; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. p. 108-119 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14274 LNAI).

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

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AU - Song, Fulin

AU - Li, Zhan

AU - Li, Hai

AU - Li, Yuan

AU - Xu, Quman

AU - Xiu, Bingkai

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

PY - 2023

Y1 - 2023

N2 - In this article, a new configuration of vertical take-off and landing (VTOL) UAV is proposed aiming at improving the energy utilize efficiency. In this configuration, a tiltable wing is installed at the center of the H-configuration quadrotor, and the orientation of the wing surface and the attitude of the quadrotor body are adjusted according to the orientation and magnitude of the target velocity. A state feedback + model feedforward flight controller capable of controlling the quadrotor with tiltable wing (QTW) throughout the entire flight envelope is proposed, without the need to switch between several mode. The performance of the proposed configuration and controller is demonstrated through a set of numerical simulations on the model of the QTW.

AB - In this article, a new configuration of vertical take-off and landing (VTOL) UAV is proposed aiming at improving the energy utilize efficiency. In this configuration, a tiltable wing is installed at the center of the H-configuration quadrotor, and the orientation of the wing surface and the attitude of the quadrotor body are adjusted according to the orientation and magnitude of the target velocity. A state feedback + model feedforward flight controller capable of controlling the quadrotor with tiltable wing (QTW) throughout the entire flight envelope is proposed, without the need to switch between several mode. The performance of the proposed configuration and controller is demonstrated through a set of numerical simulations on the model of the QTW.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

A2 - Yang, Huayong

A2 - Zou, Jun

A2 - Yang, Geng

A2 - Ouyang, Xiaoping

A2 - Liu, Honghai

A2 - Yin, Zhouping

A2 - Liu, Lianqing

A2 - Wang, Zhiyong

PB - Springer Science and Business Media Deutschland GmbH

Y2 - 5 July 2023 through 7 July 2023

ER -

Song F, Li Z, Li H, Li Y, Xu Q, Xiu B. To Improve the Energy Efficiency: Modeling and Control for Quadrotor with Tiltable Wing. In Yang H, Zou J, Yang G, Ouyang X, Liu H, Yin Z, Liu L, Wang Z, editors, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. p. 108-119. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6501-4_10