title   
  

Modeling and position control of a new quad-rotor unmanned aerial vehicle with tilt-wing mechanism

Öner, Kaan Taha and Çetinsoy, Ertuğrul and Ünel, Mustafa and Akşit, Mahmut Faruk and Kandemir, İlyas and Gülez, Kayhan (2008) Modeling and position control of a new quad-rotor unmanned aerial vehicle with tilt-wing mechanism. In: International Conference on Control, Automation, Robotics and Vision (ICCARV'08), Laval, France (Accepted/In Press)

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Abstract

In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for the vertical flight mode has also been developed and its performance has been tested with several simulations.

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:Control, Dynamic model, LQR, Quadrotor, Tilt-wing, VTOL.
Subjects:UNSPECIFIED
ID Code:9847
Deposited By:Mustafa Ünel
Deposited On:31 Oct 2008 09:31
Last Modified:12 Nov 2009 14:22

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