Title :
Real-time stabilization of a small three-rotor aircraft
Author :
Salazar-cruz, Sergio ; Kendoul, Farid ; Lozano, Rogelio ; Fantoni, Isabelle
Author_Institution :
Heudiasyc Lab., Compiegne
fDate :
4/1/2008 12:00:00 AM
Abstract :
This paper describes the design and control algorithm of an original configuration for a small aerial vehicle having three rotors with fixed-pitch propellers. The mechanism of forces and moments generation is described and compared with other vertical take-off and landing (VTOL) vehicles. A mathematical model of the body-forces generation process as well as the 6-DOF (degree of freedom) krotorcraft dynamics is presented. A stabilization algorithm is proposed which takes into account the input amplitude bounds as well as nonlinear couplings in the three-rotor dynamics. The performance of the control strategy is shown in real-time experiments.
Keywords :
helicopters; real time systems; remotely operated vehicles; stability; 6 DOF krotorcraft dynamics; VTOL vehicle; body forces generation; control algorithm; fixed pitch propellers; moments generation; real-time stabilization algorithm; small aerial vehicle; three-rotor aircraft; three-rotor dynamics; vertical take-off and landing; Aircraft navigation; Algorithm design and analysis; Couplings; Helicopters; Linear feedback control systems; Military aircraft; Rotors; Sliding mode control; Unmanned aerial vehicles; Vehicle dynamics;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.2008.4560220
