We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also describe the realisation of a prototype and a comparison of possible methods for estimating the UAV's states. With this prototype, we report on experimental hovering flights with a non-linear incremental dynamic inversion controller to stabilise the wing and a proportional derivative controller for the fuselage stabilization.
@article{arxiv.2406.17313,
title = {Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV},
author = {Florian Sansou and Gautier Hattenberger and Luca Zaccarian and Fabrice Demourant and Thomas Loquen},
journal= {arXiv preprint arXiv:2406.17313},
year = {2024}
}