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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