Modeling and control of an agile tail-sitter aircraft
Systems and Control
2015-11-30 v2
Abstract
This paper presents a model of an agile tail-sitter aircraft, which can operate as a helicopter as well as capable of transition to fixed-wing flight. Aerodynamics of the co-axial counter-rotating propellers with quad rotors are analysed under the condition that the co-axial is operated at equal rotor torque (power). A finite-time convergent observer based on Lyapunov function is presented to estimate the unknown nonlinear terms in co-axial counter-rotating propellers, the uncertainties and external disturbances during mode transition. Furthermore, a simple controller based on the finite-time convergent observer and quaternion method is designed to implement mode transition.
Keywords
Cite
@article{arxiv.1506.06193,
title = {Modeling and control of an agile tail-sitter aircraft},
author = {Xinhua Wang and Zengqiang Chen and Zhuzhi Yuan},
journal= {arXiv preprint arXiv:1506.06193},
year = {2015}
}