Motion equations and attitude control in the vertical flight of a VTOL bi-rotor UAV

Sergio Garcia-Nieto*, Jesus Velasco-Carrau, Federico Paredes-Valles, Jose Vicente Salcedo, Raul Simarro

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

11 Citations (Scopus)
90 Downloads (Pure)


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.

Original languageEnglish
Article number208
JournalElectronics (Switzerland)
Issue number2
Publication statusPublished - 1 Feb 2019


  • Hardware-in-the-loop
  • Nonlinear dynamics
  • Simulation
  • Tilt rotors
  • Vertical take off


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