Design and experimental attitude control of an unmanned Tilt-Rotor aerial vehicle

Christos Papachristos, Kostas Alexis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationIEEE 15th International Conference on Advanced Robotics
Subtitle of host publicationNew Boundaries for Robotics, ICAR 2011
Pages465-470
Number of pages6
DOIs
StatePublished - 2011
EventIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011 - Tallinn, Estonia
Duration: Jun 20 2011Jun 23 2011

Publication series

NameIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

Other

OtherIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
CountryEstonia
CityTallinn
Period6/20/116/23/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

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