Title :
Modeling and Control of a Small Autonomous Aircraft Having Two Tilting Rotors
Author :
Kendoul, Farid ; Fantoni, Isabelle ; Lozano, Rogelio
Author_Institution :
Lab. Heudiasyc, Univ. de Technol. de Compiegne
Abstract :
This paper presents recent work concerning a small tiltrotor aircraft with a reduced number of rotors. The design consists of two propellers which can tilt laterally and longitudinally. A model of the full birotor dynamics is provided, and a controller based on the backstepping procedure is synthesized for the purposes of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation
Keywords :
aerospace robotics; aircraft control; helicopters; mobile robots; path planning; stability; autonomous aircraft control; backstepping procedure; birotor dynamics; tilting rotors; tiltrotor aircraft; trajectory tracking; Aerospace control; Aircraft; Cameras; Electrons; Motion estimation; Noise generators; Object detection; Position measurement; Robots; Target tracking; Backstepping methodology; helicopter dynamics modeling; tiltrotor rotorcraft; trajectory tracking;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.882956
