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:
M. Miwa, S. Uemura, and A. Imamura, “Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter,” J. Robot. Mechatron., Vol.28, No.3, pp. 328-333, 2016.
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Last updated on Jan. 26, 2023