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Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism

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Öner, Kaan Taha and Çetinsoy, Ertuğrul and Ünel, Mustafa and Akşit, Mahmut Faruk and Kandemir, İlyas and Gülez, Kayhan (2008) Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism. In: ICCARV 2008 : "International Conference on Control, Automation, Robotics and Vision", Paris, France

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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: T Technology > TJ Mechanical engineering and machinery
T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Mahmut Faruk Akşit
Date Deposited: 24 Dec 2008 10:55
Last Modified: 26 Apr 2022 08:50
URI: https://research.sabanciuniv.edu/id/eprint/11198

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