Ertugrul Cetinsoy

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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 of vertical takeoff and landing (VTOL) like a helicopter and long duration horizontal flight like an airplane.(More)
Abstract—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(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)
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)
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 for(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)
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 take-off 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(More)
In this work, a gas-electric hybrid quad tilt-rotor UAV with morphing wing is designed. The mechanical design, propulsion system design and control architecture are explained. Dynamic model of the aerial vehicle is developed including the effects of tilting rotors, variable fuel weight, and morphing wing lift-drag forces and pitching moments.
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 and an eight output PID control system is designed for controlling both the rotor speeds and control surface angles. The performance of this control system on the air vehicle is presented through(More)