Mathematical modeling and vertical flight control of a tilt-wing UAV

Öner, Kaan Taha and Çetinsoy, Ertuğrul and Sırımoğlu, Efe and Hançer, Cevdet and Ünel, Mustafa and Akşit, Mahmut Faruk and Gülez, Kayhan and Kandemir, İlyas (2012) Mathematical modeling and vertical flight control of a tilt-wing UAV. Turkish Journal of Electrical Engineering & Computer Sciences, 20 (1). pp. 149-157. ISSN 1300-0632

[thumbnail of elk-20-1-12-1007-624.pdf] PDF

Download (997kB)


This paper presents a mathematical model and vertical flight control algorithms for a new tilt-wing unmanned aerial vehicle (UAV). The vehicle is capable of vertical take-off and landing (VTOL). Due to its tilt-wing structure, it can also fly horizontally. The mathematical model of the vehicle is obtained using Newton-Euler formulation. A gravity compensated PID controller is designed for altitude control, and three PID controllers are designed for attitude stabilization of the vehicle. Performances of these controllers are found to be quite satisfactory as demonstrated by indoor and outdoor flight experiments.
Item Type: Article
Uncontrolled Keywords: Tilt-wing, quadrotor, PID, VTOL, hover
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Mustafa Ünel
Date Deposited: 23 Dec 2011 15:10
Last Modified: 26 Apr 2022 08:53

Actions (login required)

View Item
View Item