A Swarm of Hybrid UAV can perform measurements in a large area. To cover this area, the drones need quite some range. However, to perform their measurements, they should be able to land anywhere. That is why the choice is made for hybrid UAVs. A hybrid UAV can take off an land vertically (VTOL) like a helicopter and transition into fast forward flight like an airplane.

There are still challenges regarding hybrid UAVs. We work on control strategies for attitude stabilization as well as the guidance and navigation. This way, the hybrid is able to remain stable during hover, forward flight and in between. Furthermore, it is able to estimate the wind speed and compensate for it using a model of the flight dynamics, such that it can track any ground velocity reference.

Finally, the swarm of hybrids should be able to perform measurements. To do this efficiently, the UAVs need to cooperate, but preferably not in a centralized way. The goal is to give each UAV a local behavior, that will result in the desired global behavior.

 

2014

  • [PDF] [DOI] E. J. J. Smeur, Q. P. Chu, G. C. H. E. de Croon, B. Remes, D. C. Wagter, and E. van der Horst, “Modelling of a hybrid uav using test flight data,” , Delft, 2014, pp. 196-203.
    [Bibtex]
    @inproceedings{smeur2014,
    author = {E.J.J. Smeur and Q.P. Chu and G.C.H.E. de Croon and B. Remes and C. De Wagter and E. van der Horst},
    title = {Modelling of a Hybrid UAV Using Test Flight Data},
    howpublished = {International Micro Air Vechicle Competition and Conference (IMAV)},
    pages = {196--203},
    address = {Delft},
    year = {2014},
    month = {aug},
    doi = {10.4233/uuid:2eed26cf-a7e8-4a6c-ac42-89a9608e4d2a},
    pdf = {https://www.researchgate.net/publication/264860215_Modelling_of_a_Hybrid_UAV_Using_Test_Flight_Data},
    }

2016

  • [PDF] [DOI] E. J. J. Smeur, G. C. H. E. de de Croon, and Q. Chu, “Gust disturbance alleviation with incremental nonlinear dynamic inversion,” in International conference on intelligent robots and systems (iros), 2016, pp. 5626-5631.
    [Bibtex]
    @inproceedings{smeur2016b,
    author = {Ewoud J. J. Smeur and de G.C.H.E de Croon and Qiping Chu},
    title = {Gust disturbance alleviation with Incremental Nonlinear Dynamic Inversion},
    booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
    year = {2016},
    pages = {5626-5631},
    month = {December},
    doi = {10.1109/IROS.2016.7759827},
    organization = {IEEE/RSJ},
    pdf = {https://www.researchgate.net/publication/309212603_Gust_Disturbance_Alleviation_with_Incremental_Nonlinear_Dynamic_Inversion},
    }
  • [PDF] [DOI] E. J. J. Smeur, Q. P. Chu, and G. C. H. E. de Croon, “Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles,” Journal of guidance, control, and dynamics, vol. 39, iss. 3, pp. 450-461, 2016.
    [Bibtex]
    @article{smeur2016a,
    author = {Ewoud J. J. Smeur and Qiping P. Chu and Guido C. H. E. de Croon},
    title = {{Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Aerial Vehicles}},
    journal = {Journal of Guidance, Control, and Dynamics},
    year = {2016},
    month = {March},
    volume = {39},
    number = {3},
    pages = {450-461},
    doi = {10.2514/1.G001490},
    publisher = {AIAA},
    pdf = {https://www.researchgate.net/publication/288856862_Adaptive_Incremental_Nonlinear_Dynamic_Inversion_for_Attitude_Control_of_Micro_Air_Vehicles},
    }

2017

  • [PDF] E. van der Sman, E. Smeur, B. Remes, C. De Wagter, and Q. Chu, “Incremental nonlinear dynamic inversion and multihole pressure probes for disturbance rejection control of fixed-wing micro air vehicles,” in International micro air vehicle conference and flight competition 2017, Toulouse, France, 2017, pp. 111-120.
    [Bibtex]
    @inproceedings{vandersman2017,
    author = {Elisabeth van der Sman and Ewoud Smeur and Bart Remes and Christophe {De Wagter} and Qiping Chu},
    editor = {J.-M. Moschetta, G. Hattenberger, H. de Plinval},
    title = {Incremental Nonlinear Dynamic Inversion and Multihole Pressure Probes for Disturbance Rejection Control of Fixed-wing Micro Air Vehicles},
    year = {2017},
    month = {Sep},
    day = {18-22},
    booktitle = {International Micro Air Vehicle Conference and Flight Competition 2017},
    address = {Toulouse, France},
    pages = {111--120},
    pdf = {http://www.imavs.org/papers/2017/125_imav2017_proceedings.pdf}
    }
  • [PDF] E. Smeur, D. Höppener, and C. De Wagter, “Prioritized control allocation for quadrotors subject to saturation,” in International micro air vehicle conference and flight competition 2017, Toulouse, France, 2017, pp. 37-43.
    [Bibtex]
    @inproceedings{smeur2017,
    author = {Ewoud Smeur and Daan H{\"o}ppener and Christophe {De Wagter}},
    title = {Prioritized Control Allocation for Quadrotors Subject to Saturation},
    year = {2017},
    month = {Sep},
    day = {18-22},
    booktitle = {International Micro Air Vehicle Conference and Flight Competition 2017},
    address = {Toulouse, France},
    pages = {37--43},
    pdf = {http://www.imavs.org/papers/2017/51_imav2017_proceedings.pdf},
    }
  • [PDF] [DOI] M. Bronz, E. J. J. Smeur, H. G. de Marina, and G. Hattenberger, “Development of a fixed-wing mini uav with transitioning flight capability,” in Aiaa aviation forum, 2017.
    [Bibtex]
    @inproceedings{bronz2017,
    author = {Murat Bronz and Ewoud J J Smeur and Hector Garcia de Marina and Gautier Hattenberger},
    booktitle = {AIAA Aviation Forum},
    title = {Development of A Fixed-Wing mini UAV with Transitioning Flight Capability},
    year = {2017},
    month = {June},
    doi = {10.2514/6.2017-3739},
    pdf = {https://www.researchgate.net/publication/318040286_Development_of_A_Fixed-Wing_mini_UAV_with_Transitioning_Flight_Capability},
    }
  • [PDF] [DOI] C. De Wagter and E. J. J. Smeur, “Control of a hybrid helicopter with wings,” International journal of micro air vehicles, vol. 9, iss. 3, pp. 209-217, 2017.
    [Bibtex]
    @article{dewagter2017ijmav,
    author = {Christophe {De Wagter} and Ewoud J J Smeur},
    title = {Control of a hybrid helicopter with wings},
    journal = {International Journal of Micro Air Vehicles},
    volume = {9},
    number = {3},
    pages = {209-217},
    year = {2017},
    doi = {10.1177/1756829317702674},
    url = {https://doi.org/10.1177/1756829317702674},
    eprint = {https://doi.org/10.1177/1756829317702674},
    pdf = {https://www.researchgate.net/publication/316895288_Control_of_a_hybrid_helicopter_with_wings},
    }
 

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