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Modeling and Global Control of the Longitudinal Dynamics of a Coaxial Convertible Mini-UAV in Hover Mode

In: Unmanned Aircraft Systems

Author

Listed:
  • J. Escareño

    (Universite de Technologie de Compiegne)

  • A. Sanchez

    (Universite de Technologie de Compiegne)

  • O. Garcia

    (Universite de Technologie de Compiegne)

  • R. Lozano

    (Universite de Technologie de Compiegne)

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.

Suggested Citation

  • J. Escareño & A. Sanchez & O. Garcia & R. Lozano, 2008. "Modeling and Global Control of the Longitudinal Dynamics of a Coaxial Convertible Mini-UAV in Hover Mode," Springer Books, in: Kimon P. Valavanis & Paul Oh & Les A. Piegl (ed.), Unmanned Aircraft Systems, pages 261-273, Springer.
    • Handle: RePEc:spr:sprchp:978-1-4020-9137-7_15
    DOI: 10.1007/978-1-4020-9137-7_15
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