Ertugrul Cetinsoy

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— In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler(More)
Keywords: UAV Quad tilt-wing Aerodynamic design Carbon composite Hierarchical control system a b s t r a c t This paper presents aerodynamic and mechanical design, prototyping and flight control system design of a new unmanned aerial vehicle SUAVI (Sabanci University Unmanned Aerial VehIcle). SUAVI is an electric powered quad tilt-wing UAV that is capable(More)
— This paper presents a robust position controller for a tilt-wing quadrotor to track desired trajectories under external wind and aerodynamic disturbances. Wind effects are modeled using Dryden model and are included in the dynamic model of the vehicle. Robust position control is achieved by introducing a disturbance observer which estimates the total(More)
— We present our ongoing work on the development of a new quadrotor aerial vehicle which has a tilt-wing mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using Newton-Euler formulation. Linear and nonlinear controllers(More)
In this work, a quadrotor helicopter UAV with sub-rotor control surfaces for non-inclined horizontal motion is designed. Dynamic model of the air vehicle is developed including the control surface driven drag and pushing forces, and the relevant moments. An eight output PID control system is designed for controlling both the rotor speeds and control surface(More)
This paper presents a mathematical model and vertical flight control algorithms for a new tilt-wing unmanned aerial vehicle (UAV). The vehicle is capable of vertical takeoff and landing (VTOL). Due to its tilt-wing structure, it can also fly horizontally. The mathematical model of the vehicle is obtained using Newton-Euler formulation. A gravity compensated(More)
—This paper presents design of a robust hovering controller for a quad tilt-wing UAV to hover at a desired position under external wind and aerodynamic disturbances. Wind and the aerodynamic disturbances are modeled using the Dryden model. In order to increase the robustness of the system, a disturbance observer is utilized to estimate the unknown(More)
In this paper, the mechanical and aerodynamic design, carbon composite production, hierarchical control system design and vertical flight tests of a new unmanned aerial vehicle (UAV), which is capable of VTOL (vertical takeoff and landing) like a helicopter and long range horizontal flight like an airplane, are presented. Real flight tests show that the(More)