Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
AbstractThis paper gathers the design and implementation of the control system that allows an unmanned Flying-wing to perform a Vertical Take-Off and Landing (VTOL) maneuver using two tilting rotors (Bi-Rotor). Unmanned Aerial Vehicles (UAVs) operating in this configuration are also categorized as Hybrid UAVs due to their ability of having a dual flight envelope: hovering like a multi-rotor and cruising like a traditional fixed-wing, providing the opportunity of facing complex missions in which these two different dynamics are required. This work exhibits the Bi-Rotor nonlinear dynamics, the attitude tracking controller design and also, the results obtained through Hardware-In-the-Loop (HIL) simulation and experimental studies that ensure the controller’s efficiency in hovering operation.
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Garcia-Nieto, S.; Velasco-Carrau, J.; Paredes-Valles, F.; Salcedo, J.V.; Simarro, R. Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV. Electronics 2019, 8, 208.
Garcia-Nieto S, Velasco-Carrau J, Paredes-Valles F, Salcedo JV, Simarro R. Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV. Electronics. 2019; 8(2):208.Chicago/Turabian Style
Garcia-Nieto, Sergio; Velasco-Carrau, Jesus; Paredes-Valles, Federico; Salcedo, Jose V.; Simarro, Raul. 2019. "Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV." Electronics 8, no. 2: 208.
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