Real-time stabilization of a small three-rotor aircraft

Real-time stabilization of a small three-rotor aircraft

This paper describes the design and control algorithm of an original configuration for a small aerial vehicle having three rotors with fixed-pitch propellers. The mechanism of forces and moments generation is described and compared with other vertical take-off and landing (VTOL) vehicles. A mathemat...

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Veröffentlicht in:IEEE transactions on aerospace and electronic systems 2008-04, Vol.44 (2), p.783-794
Hauptverfasser: Salazar-Cruz, S., Kendoul, F., Lozano, R., Fantoni, I.
Format: Artikel
Sprache:eng
Schlagworte:
Aircraft
Aircraft navigation
Algorithm design and analysis
Algorithms
Couplings
Helicopters
Linear feedback control systems
Mathematical models
Military aircraft
Nonlinear dynamics
Propellers
Real time
Rotors
Sliding mode control
Stabilization
Unmanned aerial vehicles
Vehicle dynamics
Vehicles
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Beschreibung
Zusammenfassung:This paper describes the design and control algorithm of an original configuration for a small aerial vehicle having three rotors with fixed-pitch propellers. The mechanism of forces and moments generation is described and compared with other vertical take-off and landing (VTOL) vehicles. A mathematical model of the body-forces generation process as well as the 6-DOF (degree of freedom) krotorcraft dynamics is presented. A stabilization algorithm is proposed which takes into account the input amplitude bounds as well as nonlinear couplings in the three-rotor dynamics. The performance of the control strategy is shown in real-time experiments.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2008.4560220