Design, Modeling and Control of a Two Flight Mode Capable Single Wing Rotorcraft With Mid-Air Transition Ability

Monocopters are nature-inspired, single-wing, rotating aerial vehicles that fly by spinning their entire body. Meanwhile, bicopters twin propeller-based control attitude changing the direction of thrust from motors using two servos. In this paper, we present a novel single-wing vehicle, which can in both monocopter and bicopter modes. To enhance its maneuverability while still being air, platform perform mid-air transition one mode to another. achieve this, fused attributes bicopter, allowing maintain natural shape for flight. Considering forces torques experienced modes flight, dynamics described, cascaded strategy is developed. A approach proposed angular velocity monocopter. An innovative blending method controllers developed allow between We constructed prototype demonstrate flight vehicle The results verify concept design along with implemented over states during as well