Position control for a VTOL-type UAV by tilting some of four rotors

Yoshikazu Nakamura, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In recent years, unmanned aerial vehicles are being expected to be used for the vegetational observation and the information collection of disaster sites into which human cannot enter. In this research, it aims at proposing a VTOL-type UAV that has a fixed-wing and four tiltable rotors and controlling it. Such a UAV has advantages, compared to both rotorcrafts with fixed rotors and fixed-wing aircrafts. This paper derives a dynamical model for the VTOL-type UAV and designs a controller from the derived model. The effectiveness of the designed controller is verified by simulations.

Original languageEnglish
Title of host publication2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages784-787
Number of pages4
ISBN (Print)9784907764487
DOIs
Publication statusPublished - Sep 30 2015
Event54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
Duration: Jul 28 2015Jul 30 2015

Other

Other54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
CountryChina
CityHangzhou
Period7/28/157/30/15

Keywords

  • Dynamical model
  • Fixed wing
  • Tilt rotors
  • VTOL-type UAV

ASJC Scopus subject areas

  • Control and Systems Engineering

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