Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation

Christos Papachristos, Kostas Alexis, Antonios Tzes

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

Abstract

The experimental trajectory control of a Tri- TiltRotor Unmanned Aerial Vehicle in rotorcraft hovering operation is the subject of this paper. This reconfigurable UAV is designed for autonomous conversion between the Vertical Take- Off and Landing, and the Fixed-Wing flight modes. Via employing the additional control authority gained by rotor-tilting, the full actuation of the UAV longitudinal dynamics is achieved. Based on this novel feature, longitudinal thrust vectoring of the main rotors is performed, and the respective degree-of-freedom is significantly benefited while performing rotorcraft hovering flight. The system custom autopilot is based on a Proportional- Integral-Derivative-double Derivative scheme, exploiting the augmented UAV state vector for control, while the customdeveloped sensor suite and state estimation system provides fully autonomous operation. Extensive experimental studies validate the control scheme's efficiency, while remarking the advantageous effects of the longitudinal thrust vectoring-based control authority.

Original languageEnglish (US)
Title of host publication2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
Pages369-374
Number of pages6
DOIs
StatePublished - Oct 15 2013
Event2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Platanias-Chania, Crete, Greece
Duration: Jun 25 2013Jun 28 2013

Other

Other2013 21st Mediterranean Conference on Control and Automation, MED 2013
CountryGreece
CityPlatanias-Chania, Crete
Period6/25/136/28/13

Fingerprint

Unmanned aerial vehicles (UAV)
Trajectories
Rotors
Derivatives
Fixed wings
Takeoff
State estimation
Landing
Sensors

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Papachristos, C., Alexis, K., & Tzes, A. (2013). Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation. In 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings (pp. 369-374). [6608748] https://doi.org/10.1109/MED.2013.6608748

Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation. / Papachristos, Christos; Alexis, Kostas; Tzes, Antonios.

2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings. 2013. p. 369-374 6608748.

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

Papachristos, C, Alexis, K & Tzes, A 2013, Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation. in 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings., 6608748, pp. 369-374, 2013 21st Mediterranean Conference on Control and Automation, MED 2013, Platanias-Chania, Crete, Greece, 6/25/13. https://doi.org/10.1109/MED.2013.6608748
Papachristos C, Alexis K, Tzes A. Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation. In 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings. 2013. p. 369-374. 6608748 https://doi.org/10.1109/MED.2013.6608748
Papachristos, Christos ; Alexis, Kostas ; Tzes, Antonios. / Trajectory control of an unmanned Tri-TiltRotor in hover flight via direct longitudinal actuation. 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings. 2013. pp. 369-374
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