Modeling, Controlling, and Simulating a Nose-Sitting Vertical Take-off and Landing Aircraft

Abstract

The increasing frequency and severity of wildfires have created a pressing need for more effective aerial firefighting solutions. An innovative nose-sitting vertical take-off and land- ing (VTOL) aircraft aims to address shortfalls of current drones used in wildfire missions. This research focused on developing a custom aircraft simulator, and on designing a basic autopilot control system for the aircraft’s helicopter mode. Standard airplane simulation literature was referenced to produce the baseline aircraft model, but additional derivations were required to describe the propulsion system which uses a nested four-bar mechanism for thrust vectoring. Linear control systems for attitude, position, and altitude were designed using the method of successive loop closure. The controllers were implemented on the full 6DOF aircraft model, and tests were conducted to analyze the response to different orienta- tion, position, and velocity commands. The results demonstrated that the autopilot control system effectively maintained stability and performance throughout each simulation. These findings lay the groundwork for future research and ultimately underscore the potential of nose-sitting VTOL aircraft to revolutionize aerial firefighting operations.