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Design, modeling and control of a hybrid UAV

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2019
Muratoğlu, Abdurrahim
Vertical takeoff and landing (VTOL) vehicles that can fly like conventional airplanes after the takeoff, provide a promising area to find applications in the future. These hybrid vehicles combine the advantages of rotary-wing and fixed-wing aircraft configurations such as having capability of hovering flight, takeoff and landing without utilizing a runway, long range, high speed flight with reasonable endurance. In this study, a tilt-rotor tricopter VTOL UAV having a conventional fixed-wing airframe is designed. Nonlinear mathematical model of the vehicle is generated by calculating propulsive and aerodynamics-based equations of motion. For a better approximation, dynamic model of the propulsion system is obtained by performing wind tunnel experiments. Moreover, the nonlinear system is linearized at suitable trim conditions for stability analysis and to develop linear controllers. Flight simulations were performed with the developed linear controllers in MATLAB/Simulink. Simulation results have been reported and the results were discussed.