Modeling and simulation of a small-sized Tiltrotor UAV


Journal of Defense Modeling and Simulation, vol.9, no.4, pp.335-345, 2012 (ESCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 9 Issue: 4
  • Publication Date: 2012
  • Doi Number: 10.1177/1548512911414951
  • Journal Name: Journal of Defense Modeling and Simulation
  • Journal Indexes: Emerging Sources Citation Index (ESCI), Scopus
  • Page Numbers: pp.335-345
  • Keywords: control, optimal tracking, optimization, Tiltrotor, UAV
  • Middle East Technical University Affiliated: Yes


Unmanned aerial vehicles (UAVs) are remotely piloted or self-piloted aircrafts that can carry cameras, sensors, communication equipment and other payloads. Tiltrotor UAVs provide a unique platform that fulfills the needs for ever-changing mission requirements, by combining the desired features of hovering like a helicopter and reaching high forward speeds like an airplane, which might be a force multiplier in the battlefield. In this paper, the conceptual design and aerodynamical model of a realizable small-sized Tiltrotor UAV are presented, and the linearized state-space models are obtained around the trim points for airplane, helicopter and conversion modes. Controllers are designed using tracking optimal control method and gain scheduling is employed to obtain a simulation for the whole flight envelope. An interactive software infrastructure is established for the design, analysis and simulation phases, based on the theoretical concepts. © 2011 The Society for Modeling and Simulation International.