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)
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.
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