TY - JOUR
T1 - Motion equations and attitude control in the vertical flight of a VTOL bi-rotor UAV
AU - Garcia-Nieto, Sergio
AU - Velasco-Carrau, Jesus
AU - Paredes-Valles, Federico
AU - Salcedo, Jose Vicente
AU - Simarro, Raul
PY - 2019/2/1
Y1 - 2019/2/1
N2 - This 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.
AB - This 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.
KW - Hardware-in-the-loop
KW - Nonlinear dynamics
KW - Simulation
KW - Tilt rotors
KW - Vertical take off
UR - http://www.scopus.com/inward/record.url?scp=85062835042&partnerID=8YFLogxK
U2 - 10.3390/electronics8020208
DO - 10.3390/electronics8020208
M3 - Article
AN - SCOPUS:85062835042
VL - 8
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
IS - 2
M1 - 208
ER -