Modeling and Control of Quadrotor Formations Carrying a Slung Load

Tekinalp, Ozan


Modeling and control of quadrotor formations carrying a slung load
Ariyibi, Segu; Tekinalp, Ozan; Department of Aerospace Engineering (2019)
In this thesis, an algorithm for the autonomous formation flight of quadrotors carrying a slung load is developed. Full nonlinear models for a single quadrotor carrying a slung load as well as two and three quadrotors carrying a slung load problems are addressed. For the two and three quadrotor slung load systems, a leader-follower approach is employed to make the quadrotors fly in a fixed geometrical formation. The overall control algorithm employs a loop structure with a Lyapunov based formation guidance ...
Modeling and control of a heated tank system with variable liquid hold-up
Yücel, Tarık; Kıncal, Serkan; Department of Chemical Engineering (2013)
The aim of this thesis study was the modeling and controlling of a heated tank system with variable liquid hold-up. Mathematical model representation of the process was developed using mass and energy balances. Experiments were conducted to obtain the correct model parameters of the process. After obtaining the model parameters, linearized form of the model was developed. Proportional-Integral-Derivative (PID) controller parameters are found at different nominal conditions using a Simulink code that estimat...
Modeling and control of a heavy-lift helicopter consisting of large and small tilting rotors
Ozdogan, Gokhan; Leblebicioğlu, Mehmet Kemal (2018-10-01)
In this study, we have proposed an unconventional UAV design. We aimed heavy lifting in an efficient way, without using complicated swashplate mechanism. Helicopter consist of two large propellers to carry the main payload, two small propellers to stabilize the roll attitude, and two servo motors to control the yaw axis. Large propellers will be more efficient than the small propellers owing to their greater disk area. For this reason, main lifting will be achieved by two large propellers. Conventional quad...
Akay, Ahmet Arda; Yildirim, Alper; Çöker, Demirkan; Kayran, Altan; Gürses, Ercan (2015-09-12)
Modeling and simulation of oil leakage in radial lip seals
Yıldız, Meltem; Akkök, Metin; Department of Mechanical Engineering (2010)
Radial lip seals are used to prevent leakage between machine elements in many industrial applications. During operation, fluid film between seal lip and shaft surface generates a pressure distribution on the lip which is elastically deformed due to hydrodynamic pressure. Surface roughness parameters in terms of moments of height profile distribution (rms roughness, skewness and kurtosis) affect the rate of oil leakage. A computer program is developed for elastohydrodynamic analysis of radial lip seals. Both...
Citation Formats
S. ARIYIBI and O. Tekinalp, “Modeling and Control of Quadrotor Formations Carrying a Slung Load,” 2018, Accessed: 00, 2020. [Online]. Available: