Next Article in Journal
Classification of Maize in Complex Smallholder Farming Systems Using UAV Imagery
Previous Article in Journal
Accuracy and Optimal Altitude for Physical Habitat Assessment (PHA) of Stream Environments Using Unmanned Aerial Vehicles (UAV)
Article Menu

Export Article

Open AccessArticle
Drones 2018, 2(2), 21; https://doi.org/10.3390/drones2020021

Modeling, Trim Analysis, and Trajectory Control of a Micro-Quadrotor with Wings

Weapons & Systems Engineering, United States Naval Academy, Annapolis, MD 21402, USA
*
Author to whom correspondence should be addressed.
Received: 18 April 2018 / Revised: 30 May 2018 / Accepted: 31 May 2018 / Published: 5 June 2018
Full-Text   |   PDF [1472 KB, uploaded 5 June 2018]   |  

Abstract

This paper presents the modeling, control design, and efficiency analysis of a micro-quadrotor aerial vehicle with airfoils. We derive the equations of motion for a micro-quadrotor (length 0.15 m and mass 0.03 kg) outfitted with two symmetric airfoils that generate lift during forward transit. A trim analysis is presented to determine nominal flight conditions. Analysis of the model facilitates design of a controller that stabilizes the modified quadrotor through transitions from hover to forward fixed-wing flight. The performance of the design and control approach is analyzed through a series of typical flight profile simulations. The controller is able to track a velocity trajectory in the presence of aerodynamic uncertainties. The simulations are also used to determine the efficiency of the aircraft compared to a standard quadrotor. Results suggest that, during forward flight, the airfoils result in up to a 35% energy savings depending on the aspect ratio and forward speed of the vehicle. Added airfoil weight, however, causes a 45% energy loss during hover. These results indicate that the neutral benefit speed is in the range 3–5 m/s depending on the aspect ratio of the airfoil, which is suggestive of mission flight profiles that best utilize the added benefit of airfoils on a micro-quadrotor. View Full-Text
Keywords: micro aerial vehicles; vertical takeoff and landing; transitioning flight; dynamic modeling and control of quadrotor micro aerial vehicles; vertical takeoff and landing; transitioning flight; dynamic modeling and control of quadrotor
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Dawkins, J.; DeVries, L. Modeling, Trim Analysis, and Trajectory Control of a Micro-Quadrotor with Wings. Drones 2018, 2, 21.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Drones EISSN 2504-446X Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top