TY - GEN
T1 - Linear Quadratic optimal position control for an unmanned Tri-TiltRotor
AU - Papachristos, Christos
AU - Alexis, Kostas
AU - Tzes, Anthony
PY - 2013
Y1 - 2013
N2 - The optimal position control of a Tri-TiltRotor Unmanned Aerial Vehicle is the subject of this paper. This specific UAV design possesses the capability to control the orientation of its main rotors, thus enabling operation in both the Vertical Take-Off and Landing as well as the Fixed-Wing flight mode configuration. The translational controller developed is based on a Linear-Quadratic tracking scheme. Additionally to the proposed controller, the newly introduced capability for rotor-tilting, and thus thrust vectoring, as provided by this design is proposed for its utilization in the control of the longitudinal degree-of-freedom of the UAV. Simulation results demonstrate both the overall proposed controller's efficiency, as well as the clear advantage gained by the aforementioned proposed strategy, with regard to the controlled system's longitudinal control performance.
AB - The optimal position control of a Tri-TiltRotor Unmanned Aerial Vehicle is the subject of this paper. This specific UAV design possesses the capability to control the orientation of its main rotors, thus enabling operation in both the Vertical Take-Off and Landing as well as the Fixed-Wing flight mode configuration. The translational controller developed is based on a Linear-Quadratic tracking scheme. Additionally to the proposed controller, the newly introduced capability for rotor-tilting, and thus thrust vectoring, as provided by this design is proposed for its utilization in the control of the longitudinal degree-of-freedom of the UAV. Simulation results demonstrate both the overall proposed controller's efficiency, as well as the clear advantage gained by the aforementioned proposed strategy, with regard to the controlled system's longitudinal control performance.
UR - http://www.scopus.com/inward/record.url?scp=84893301457&partnerID=8YFLogxK
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U2 - 10.1109/CoDIT.2013.6689629
DO - 10.1109/CoDIT.2013.6689629
M3 - Conference contribution
AN - SCOPUS:84893301457
SN - 9781424497966
T3 - 2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013
SP - 708
EP - 713
BT - 2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013
T2 - 2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013
Y2 - 6 May 2013 through 8 May 2013
ER -