TY - GEN
T1 - Design and experimental attitude control of an unmanned Tilt-Rotor aerial vehicle
AU - Papachristos, Christos
AU - Alexis, Kostas
AU - Tzes, Anthony
PY - 2011
Y1 - 2011
N2 - The design and experimental control of an unmanned Tilt-Rotor aerial vehicle operating in Bi-Rotor mode is presented in this article. Tilt-Rotor UAVs exhibit important flight characteristics due to their ability to fly both like a rotorcraft (in Bi-Rotor Mode) and like a fixed-wing aerial system. The ability of having a dual flight envelope makes ideal for complex missions where both the speed and flight endurance of a fixed-wing design and the hovering, aggressive maneuvering and vertical take-off/landing capabilities of a helicopter are needed. In the work presented, the main design principles, the Bi-Rotor mode nonlinear/linearized dynamics and the corresponding attitude tracking controller design are exhibited. Experimental studies in attitude stabilization indicate the overall system and controller's efficiency in hovering operation.
AB - The design and experimental control of an unmanned Tilt-Rotor aerial vehicle operating in Bi-Rotor mode is presented in this article. Tilt-Rotor UAVs exhibit important flight characteristics due to their ability to fly both like a rotorcraft (in Bi-Rotor Mode) and like a fixed-wing aerial system. The ability of having a dual flight envelope makes ideal for complex missions where both the speed and flight endurance of a fixed-wing design and the hovering, aggressive maneuvering and vertical take-off/landing capabilities of a helicopter are needed. In the work presented, the main design principles, the Bi-Rotor mode nonlinear/linearized dynamics and the corresponding attitude tracking controller design are exhibited. Experimental studies in attitude stabilization indicate the overall system and controller's efficiency in hovering operation.
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U2 - 10.1109/ICAR.2011.6088631
DO - 10.1109/ICAR.2011.6088631
M3 - Conference contribution
AN - SCOPUS:84255178345
SN - 9781457711589
T3 - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
SP - 465
EP - 470
BT - IEEE 15th International Conference on Advanced Robotics
T2 - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Y2 - 20 June 2011 through 23 June 2011
ER -