Abstract
The aim of this paper is to present a configuration for a Convertible Unmanned Aerial Vehicle, which incorporates the advantages of the coaxial rotorcraft for hover flight and the efficiencies of a fixed-wing for forward flight. A detailed dynamical model, including the aerodynamics, is obtained via the Newton-Euler formulation. It is proposed a nonlinear control law that achieves global stability for the longitudinal vertical-mode motion. Indeed, we have performed a simulation study to test the proposed controller in presence of external perturbations, obtaining satisfactory results. We have developed an embedded autopilot to validate the proposed prototype and the control law in hover-mode flight.
Similar content being viewed by others
References
Knoebel, N., Osborne, S., Snyder, D., Mclain, T., Beard, R., Eldredge, A.: Preliminary modeling, control, and trajectory design for miniature autonomous tailsitter. In: Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Keystone, August 2006
Green, W.E., Oh, P.Y.: A MAV that flies like an airplane and hovers like a helicopter. In: Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Monterey, 24–28 July 2005
Stone, H.: Aerodynamic modelling of a wing-in-slipstream tail-sitter UAV. In: 2002 Biennial International Powered Lift Conference and Exhibit, Williamsburg, 5–7 November 2002
Bedford, A., Fowler, W.: Dynamics. Addison-Wesley, Reading (1989)
Goldstein, H., Poole, C.P., Safko, J.: Classical Mechanics. Adison-Wesley, Reading (1980)
Etkin, B., Reid, L.: Dynamics of Flight. Wiley, New York (1991)
Stevens, B.L., Lewis, F.L.: Aircraft Control and Simulation 2ed. Wiley, New York (2003)
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was partially supported by Mexico’s National Council of Science and Technology (CONACYT).
Rights and permissions
About this article
Cite this article
Escareño, J., Sanchez, A., Garcia, O. et al. Modeling and Global Control of the Longitudinal Dynamics of a Coaxial Convertible Mini-UAV in Hover Mode. J Intell Robot Syst 54, 261–273 (2009). https://doi.org/10.1007/s10846-008-9265-y
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-008-9265-y