Linear Quadratic optimal position control for an unmanned Tri-TiltRotor

Christos Papachristos, Kostas Alexis, Antonios Tzes

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

    Abstract

    The optimal position control of a Tri-TiltRotor Unmanned Aerial Vehicle is the subject of this paper. This specific UAV design possesses the capability to control the orientation of its main rotors, thus enabling operation in both the Vertical Take-Off and Landing as well as the Fixed-Wing flight mode configuration. The translational controller developed is based on a Linear-Quadratic tracking scheme. Additionally to the proposed controller, the newly introduced capability for rotor-tilting, and thus thrust vectoring, as provided by this design is proposed for its utilization in the control of the longitudinal degree-of-freedom of the UAV. Simulation results demonstrate both the overall proposed controller's efficiency, as well as the clear advantage gained by the aforementioned proposed strategy, with regard to the controlled system's longitudinal control performance.

    Original languageEnglish (US)
    Title of host publication2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013
    Pages708-713
    Number of pages6
    DOIs
    StatePublished - Dec 1 2013
    Event2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013 - Hammamet, Tunisia
    Duration: May 6 2013May 8 2013

    Other

    Other2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013
    CountryTunisia
    CityHammamet
    Period5/6/135/8/13

    Fingerprint

    Position control
    Unmanned aerial vehicles (UAV)
    Controllers
    Rotors
    Longitudinal control
    Fixed wings
    Takeoff
    Landing
    Controller

    ASJC Scopus subject areas

    • Information Systems and Management
    • Control and Systems Engineering

    Cite this

    Papachristos, C., Alexis, K., & Tzes, A. (2013). Linear Quadratic optimal position control for an unmanned Tri-TiltRotor. In 2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013 (pp. 708-713). [6689629] https://doi.org/10.1109/CoDIT.2013.6689629

    Linear Quadratic optimal position control for an unmanned Tri-TiltRotor. / Papachristos, Christos; Alexis, Kostas; Tzes, Antonios.

    2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013. 2013. p. 708-713 6689629.

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

    Papachristos, C, Alexis, K & Tzes, A 2013, Linear Quadratic optimal position control for an unmanned Tri-TiltRotor. in 2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013., 6689629, pp. 708-713, 2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013, Hammamet, Tunisia, 5/6/13. https://doi.org/10.1109/CoDIT.2013.6689629
    Papachristos C, Alexis K, Tzes A. Linear Quadratic optimal position control for an unmanned Tri-TiltRotor. In 2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013. 2013. p. 708-713. 6689629 https://doi.org/10.1109/CoDIT.2013.6689629
    Papachristos, Christos ; Alexis, Kostas ; Tzes, Antonios. / Linear Quadratic optimal position control for an unmanned Tri-TiltRotor. 2013 International Conference on Control, Decision and Information Technologies, CoDIT 2013. 2013. pp. 708-713
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