ZIOUD, TARIQ (Université de Limoges XLIM UMR CNRS 7252), Escareno Castro, Juan Antonio (XLIM Research Institute - University of Limoges), LABBANI-IGBIDA, Ouiddad (XLIM Research Institute - ENSIL-ENSCI - University of Limoges)

Dynamic/CFD Modeling, Control and Energy-Consumption Comparative Analysis of a Quad-Tilting Rotor VTOL UAS

Scheduled for presentation during the Regular Session "Multirotor Design and Control II" (ThB3), Thursday, June 23, 2022, 16:10−16:30, Divona-1

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

The actual paper presents the study of a quad-tilting rotorcraft ranging from the detailed mathematical modeling (dynamics and aerodynamics) and preliminary control to the experimental benchmark (airframe and embedded architecture). The modeling is based on the Euler-Lagrange formalism and includes the aerodynamic equations. Moreover, for sake of completeness, the latter is endowed with a detailed CFD study of the aerial robot's airframe. Likewise, within a energy consuption context the drag parasitic phenomena is addressed to draw performance operational conclusions on the the tilt-rotor configuration with respect the classical quadcopter. A simulation stage is carried out to assess the performance of Lyapunov-based PD control law applied to holonomic and non-holomic navigation. Finally, an extensive experimental stage is describing the development specifics of the platform.