Sharif Digital Repository

Unmanned Aerial Vehicles have been used for different applications despite their short life. In last recent years, the developements in technology which leads to producing smaller electronical and electromechanical deveices, attract more attention to the researches in these fields. Among these vehicles, unmanned helicopters are more important because of their special abilities and capabilities. However there are some drawbacks which makes using them more difficult.
In this project, the first principle modeling of a RC helicopter has been accomplished and a parametric model including different sections effects has been created. This model has been implemented for a Trex600 CF helicopter.... 

Swarm robots have been interested by researchers in recent years. The most important reason of this attention is the abilities of these systems for doing some works that a single robot can’t do them alone. The goal of this article is formation control of a group of flying robots with nonholonomic dynamics. The agents are considered helicopters with dimension, mass and moment of inertia. Firstly, the dynamics equation of helicopter will be derived as for Newton-Euler method. Next, input-output equations will be derived and controller will be designed by using sliding mode method. Main rotor and tail rotor thrusts, roll and pitch torques of main rotor are the system inputs. The control method... 

Potential flow solvers simplify the mathematical formulation and achieve efficient solutions. The prediction of aerodynamic of dual rotor systems using computational fluid dynamic methods is difficult task due to the interference effects between the wakes shed from the rotors. In the present work, a free wake vortex lattice method is used to predict the vertical wake and blade loading of dual rotors in hover. In this approach the blades are modeled as flat plates with zero thickness and ring vortices are distributed on the surface of each blade. When the blades rotate, vortices are shed into the wake and freely move with a local velocity induced by the effects of the vortices on the blades...