Motion equations and attitude control in the vertical flight of a VTOL bi-rotor UAV
Sergio Garcia-Nieto (Universitat Politécnica de Valencia)
Jesus Velasco-Carrau (Universitat Politécnica de Valencia)
F. Paredes-Vallés (TU Delft - Control & Simulation)
Jose Vicente Salcedo (Universitat Politécnica de Valencia)
Raul Simarro (Universitat Politécnica de Valencia)
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Abstract
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.
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