TY - GEN
T1 - Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation
AU - Papachristos, Christos
AU - Alexis, Kostas
AU - Tzes, Anthony
PY - 2013
Y1 - 2013
N2 - The experimental trajectory control of a Tri- TiltRotor Unmanned Aerial Vehicle in rotorcraft hovering operation is the subject of this paper. This reconfigurable UAV is designed for autonomous conversion between the Vertical Take- Off and Landing, and the Fixed-Wing flight modes. Via employing the additional control authority gained by rotor-tilting, the full actuation of the UAV longitudinal dynamics is achieved. Based on this novel feature, longitudinal thrust vectoring of the main rotors is performed, and the respective degree-of-freedom is significantly benefited while performing rotorcraft hovering flight. The system custom autopilot is based on a Proportional- Integral-Derivative-double Derivative scheme, exploiting the augmented UAV state vector for control, while the customdeveloped sensor suite and state estimation system provides fully autonomous operation. Extensive experimental studies validate the control scheme's efficiency, while remarking the advantageous effects of the longitudinal thrust vectoring-based control authority.
AB - The experimental trajectory control of a Tri- TiltRotor Unmanned Aerial Vehicle in rotorcraft hovering operation is the subject of this paper. This reconfigurable UAV is designed for autonomous conversion between the Vertical Take- Off and Landing, and the Fixed-Wing flight modes. Via employing the additional control authority gained by rotor-tilting, the full actuation of the UAV longitudinal dynamics is achieved. Based on this novel feature, longitudinal thrust vectoring of the main rotors is performed, and the respective degree-of-freedom is significantly benefited while performing rotorcraft hovering flight. The system custom autopilot is based on a Proportional- Integral-Derivative-double Derivative scheme, exploiting the augmented UAV state vector for control, while the customdeveloped sensor suite and state estimation system provides fully autonomous operation. Extensive experimental studies validate the control scheme's efficiency, while remarking the advantageous effects of the longitudinal thrust vectoring-based control authority.
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U2 - 10.1109/MED.2013.6608748
DO - 10.1109/MED.2013.6608748
M3 - Conference contribution
AN - SCOPUS:84885227537
SN - 9781479909971
T3 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
SP - 369
EP - 374
BT - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
T2 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013
Y2 - 25 June 2013 through 28 June 2013
ER -