JRM Vol.28 No.3 pp. 328-333
doi: 10.20965/jrm.2016.p0328


Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter

Masafumi Miwa*, Shinji Uemura**, and Akitaka Imamura***

*Institute of Science and Technology, Tokushima University
2-1 Minamijosanjia, Tokushima city, Tokushima 770-8506, Japan

**Graduate School of Advanced Technology and Science, Tokushima University
2-1 Minamijosanjia, Tokushima city, Tokushima 770-8506, Japan

***Department of Electronics, Information and Communication Engineering, Osaka Sangyo University
3-1-1 Nakagaito, Daito, Osaka 574-8530, Japan

September 23, 2015
April 20, 2016
June 20, 2016
attitude control, tilt rotor helicopter, quad rotor helicopter

Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter

Arbitrary attitude hovering

The quad tilt rotor helicopter (QTRH), a tilt-rotor aircraft prototype, has fixed wings for long-range high-speed flight. Its rotor-tilt mechanism controls 4 rotor-tilt angles independently and controls its roll and pitch angles similarly to a multirotor helicopter. It controls yaw angle by thrust vectoring and moves forward and backward by tilting its rotors. Rotor-tilting maneuvers are the initial stage of flight-mode transition between helicopter and fixed-wing modes.

Cite this article as:
Masafumi Miwa, Shinji Uemura, and Akitaka Imamura, “Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter,” J. Robot. Mechatron., Vol.28, No.3, pp. 328-333, 2016.
Data files:
  1. [1] D. Lee, H. Lim, H. J. Kim, Y. Kim, and J. K. Seong, “Adaptive image-based visual servoing for an under-actuated quadrotor system,” J. of Guidance, Control, and Dynamics, Vol.35, No.4, pp. 1335-1353, 2012.
  2. [2] D. Pebrianti, F. Kendoul, S. Azrad, W. Wang, and K. Nonami, “Autonomous hovering and landing of a quad-rotor micro aerial vehicle by means of on ground stereo vision system,” J. of System Design and Dynamics, Vol.4, No.2, pp. 269-284, 2010.
  3. [3] I. Sa and P. Corke, “Estimation and control for an open-source quadcopter,” Proc. of Australian Conf., Robotics and Automation, December 7, 2011.
  4. [4] M. Miwa, S. Uemura, Y. Ishihara, A. Imamura, J. H. Shim, and K. Ioi, “Evaluation of Quad Ducted-fan Helicopter,” Int. J. of Intelligent Unmanned Systems Information, Vol.1, No.2, pp. 187-198, 2013.
  5. [5] M. Miwa, Y. Shigematsu, and T. Yamashita, “Control of Ducted Fan Flying Object Using Thrust Vectoring,” J. of System Design and Dynamics, Vol.6, No.3, pp. 322-334, 2012.
  6. [6] M. Miwa and S. Maruhashi, “Ducted Fan Flying Object with Normal and Reverse Ducted Fan Units,” Int. J. Robotics and Mechatronics, Vol.1, No.1, pp. 8-15, 2014.
  7. [7] S. Suzuki, R. Zhijia, Y. Horita, K. Nonami, G. Kimura, T. Bando, D. Hirabayashi, M. Furuya, and K. Yasuda, “Attitude control of quad rotors QTW-UAV with tilt wing mechanism,” J. of System Design and Dynamics, Vol.4, No.3, pp. 416-428, 2010.
  8. [8] E. Cetinsoy et al., “Design and development of a tilt-wing UAV,” Turk J. Elec Eng & Comp Sci, Vol.19, No.5, pp. 733-741, 2011.
  9. [9] A. Imamura, Y. Urashiri, M. Miwa, and J. Hino, “Flight Characteristic of Quad Rotor Helicopter with Tilting Rotor,” J. of Instrumentation Automatiion and Systems, Vol.2, No.1, pp. 56-63, 2015.
  10. [10] A. Imamura, S. Uemura, M. Miwa, and J. Hino, “Flight Characteristics of Quad Ducted Fan Helicopter with Thrust Vectoring Nozzles,” The J. of Unmanned System Technology, Vol.2, No.1, pp. 54-61, 2014.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 01, 2021