Firstly, a novel structure of indoor quad-rotor airship is proposed to overcome the traditional indoor airship shortcomings such as poor balance and lack of buoyancy in this paper. The kinetic model is established according to the design structure and flight characteristics by the principle of Newtonian mechanics and the laws of physics. The force analysis on the quad-rotor airship, including g...

In this paper we present a Model Predictive Path Integral (MPPI) control algorithm that is derived from the path integral control framework and a generalized importance sampling scheme. In order to operate in real time we parallelize the sampling based component of the algorithm and achieve massive speed-up by using a Graphical Processor Unit (GPU). We compare MPPI against traditional model pre...

The aerodynamic interference effects on tiltrotor performance in cruise are investigated using comprehensive calculations, to better understand the physics and to quantify the effects on the aircraft design. Performance calculations were conducted for 146,600-lb conventional and quad tiltrotors, which are to cruise at 300 knots at 4000 ft/95 deg F condition. A parametric study was conducted to ...

This paper presents the investigation of the modelling and control of a quad‐rotor helicopter and forms part of research involving the development of an unmanned aerial vehicle (UAV) to be used in search and rescue applications. Quad‐rotor helicopters consist of two pairs of counter rotating rotors situated at the ends of a cross, symmetric about the centre of gra...

This work proposes an adaptive trajectory planning approach for a single quad-rotor unmanned aerial vehicle (UAV). The objective is to drive the system from an initial position to a final one without hitting actuator constraints while minimizing the total time of the mission. The approach employs differential flatness to represent the control inputs to be applied in function of the desired traj...

In this paper a full approach of modeling and intelligent control four rotor unmanned air vehicle (UAV) known as quad-rotor aircraft is presented. fact, PID on-line optimized Neural Networks Approach (PID-NN) developed to be applied angular trajectories quad-rotor. Whereas, classical controllers are dedicated for the positions, altitude speed control. The goal work concept smart Self-Tuning con...

Abstract Foldable quad-rotor UAV has the advantages of both artillery shells and rotor UAVs can have ability long-distance rapid deployment stagnation to perform tasks. To describe process gun-launched UAVs, a simplified internal ballistic external modeling method is proposed. The parameters such as muzzle velocity, flight velocity variation, trajectory are obtained. effects variation initial p...