• DocumentCode
    844164
  • 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
  • Volume
    22
  • Issue
    6
  • fYear
    2006
  • Firstpage
    1297
  • Lastpage
    1302
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2006.882956
  • Filename
    4020365
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=844164