Construction, modeling and instrumentation of a mini-unmanned aircraft in delta (Δ) configuration

We present firstly the design and construction of a unmanned aerial vehicle (UAV) in delta configuration in order to accomplish certain tasks and requirements which are explained along this document. After the construction, we present the dynamic model of the UAV developed, based on its structural characteristics and obtained through the Newton-Euler method. The final dynamic model is restricted to longitudinal motion in order to simplify the system, allowing this fact to propound a suitable control law to control the pitch angle of the UAV. Finally we discuss the use of a set of components embedded into this aircraft, whose main tasks are to make it fly, giving the option of manual and autonomous flight, and to acquire a whole range of physical measurements produced by the UAV´s motion, such as its acceleration, angular rate, attitude, velocity and position.