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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