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

Paper:

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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

Received:
September 23, 2015
Accepted:
April 20, 2016
Published:
June 20, 2016
Creative Commons License
Keywords:
attitude control, tilt rotor helicopter, quad rotor helicopter
Abstract
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.
Arbitrary attitude hovering

Arbitrary attitude hovering

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.
Data files:
References
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