Modeling and Control of a Small Autonomous Aircraft Having Two Tilting Rotors

Modeling and Control of a Small Autonomous Aircraft Having Two Tilting Rotors

This paper presents recent work concerning a small tiltrotor aircraft with a reduced number of rotors. The design consists of two propellers which can tilt laterally and longitudinally. A model of the full birotor dynamics is provided, and a controller based on the backstepping procedure is synthesi...

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Veröffentlicht in:IEEE transactions on robotics 2006-12, Vol.22 (6), p.1297-1302
Hauptverfasser: Kendoul, F., Fantoni, I., Lozano, R.
Format: Artikel
Sprache:eng
Schlagworte:
Aerospace control
Aircraft
Applied sciences
Backstepping methodology
Cameras
Computer science
control theory
systems
Computer simulation
Control theory. Systems
Dynamics
Electrons
Exact sciences and technology
helicopter dynamics modeling
Modelling and identification
Motion estimation
Noise generators
Object detection
Position measurement
Prototypes
Robotics
Robots
Stabilization
Strategy
Target tracking
Tilt
Tilting rotors
tiltrotor rotorcraft
Tracking
trajectory tracking
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Beschreibung
Zusammenfassung:This paper presents recent work concerning a small tiltrotor aircraft with a reduced number of rotors. The design consists of two propellers which can tilt laterally and longitudinally. A model of the full birotor dynamics is provided, and a controller based on the backstepping procedure is synthesized for the purposes of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2006.882956