Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV

[EN] This paper gathers the design and implementation of the control system that allows an unmanned Flying-wing to perform a Vertical Take-Off and Landing (VTOL) maneuver using two tilting rotors (Bi-Rotor). Unmanned Aerial Vehicles (UAVs) operating in this configuration are also categorized as Hybr...

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Autores: Garcia-Nieto, Sergio|||0000-0002-2722-742X, Salcedo-Romero-de-Ávila, José-Vicente|||0000-0003-1577-5039, Simarro Fernández, Raúl|||0000-0002-7311-2025, Velasco-Carrau, Jesús, Paredes-Valles, Federico
Tipo de recurso: artículo
Fecha de publicación:2019
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/192846
Acceso en línea:https://riunet.upv.es/handle/10251/192846
Access Level:acceso abierto
Palabra clave:Tilt rotors
Nonlinear dynamics
Simulation
Hardware-in-the-loop
Vertical take off
INGENIERIA DE SISTEMAS Y AUTOMATICA
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spelling Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAVGarcia-Nieto, Sergio|||0000-0002-2722-742XSalcedo-Romero-de-Ávila, José-Vicente|||0000-0003-1577-5039Simarro Fernández, Raúl|||0000-0002-7311-2025Velasco-Carrau, JesúsParedes-Valles, FedericoTilt rotorsNonlinear dynamicsSimulationHardware-in-the-loopVertical take offINGENIERIA DE SISTEMAS Y AUTOMATICA[EN] This paper gathers the design and implementation of the control system that allows an unmanned Flying-wing to perform a Vertical Take-Off and Landing (VTOL) maneuver using two tilting rotors (Bi-Rotor). Unmanned Aerial Vehicles (UAVs) operating in this configuration are also categorized as Hybrid UAVs due to their ability of having a dual flight envelope: hovering like a multi-rotor and cruising like a traditional fixed-wing, providing the opportunity of facing complex missions in which these two different dynamics are required. This work exhibits the Bi-Rotor nonlinear dynamics, the attitude tracking controller design and also, the results obtained through Hardware-In-the-Loop (HIL) simulation and experimental studies that ensure the controller's efficiency in hovering operation.The authors would like to acknowledge the Spanish Ministry of Economy and Competitiveness for providing funding through the project DPI2015-71443-R and the local administration Generalitat Valenciana through the project GV/2017/029.MDPI AGDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialInstituto Universitario de Automática e Informática IndustrialEscuela Técnica Superior de Ingeniería IndustrialGENERALITAT VALENCIANAMinisterio de Economía y EmpresaRepositorio Institucional de la Universitat Politècnica de València Riunet20192019-02-12journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://riunet.upv.es/handle/10251/192846reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Economía y Competitividad http://dx.doi.org/10.13039/501100003329 DPI2015-71443-R DESARROLLO DE HERRAMIENTAS AVANZADAS PARA METODOLOGIAS DE DISEÑO Y OPTIMIZACION MULTIOBJETIVO EN INGENIERIA DE CONTROL. APLICACION A SISTEMAS MULTIVARIABLESGeneralitat Valenciana https://doi.org/10.13039/501100003359 GV%2F2017%2F029 DESARROLLO Y APLICACION DE TECNICAS BASADAS EN OPTIMIZACION MULTIOBJETIVO PARA MODELADO Y CONTROL DE SISTEMAS NO LINEALES MULTIVARIABLES.open accesshttp://purl.org/coar/access_right/c_abf2Reconocimiento (by)http://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/1928462026-06-13T07:49:27Z
dc.title.none.fl_str_mv Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
title Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
spellingShingle Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
Garcia-Nieto, Sergio|||0000-0002-2722-742X
Tilt rotors
Nonlinear dynamics
Simulation
Hardware-in-the-loop
Vertical take off
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
title_full Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
title_fullStr Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
title_full_unstemmed Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
title_sort Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV
dc.creator.none.fl_str_mv Garcia-Nieto, Sergio|||0000-0002-2722-742X
Salcedo-Romero-de-Ávila, José-Vicente|||0000-0003-1577-5039
Simarro Fernández, Raúl|||0000-0002-7311-2025
Velasco-Carrau, Jesús
Paredes-Valles, Federico
author Garcia-Nieto, Sergio|||0000-0002-2722-742X
author_facet Garcia-Nieto, Sergio|||0000-0002-2722-742X
Salcedo-Romero-de-Ávila, José-Vicente|||0000-0003-1577-5039
Simarro Fernández, Raúl|||0000-0002-7311-2025
Velasco-Carrau, Jesús
Paredes-Valles, Federico
author_role author
author2 Salcedo-Romero-de-Ávila, José-Vicente|||0000-0003-1577-5039
Simarro Fernández, Raúl|||0000-0002-7311-2025
Velasco-Carrau, Jesús
Paredes-Valles, Federico
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Instituto Universitario de Automática e Informática Industrial
Escuela Técnica Superior de Ingeniería Industrial
GENERALITAT VALENCIANA
Ministerio de Economía y Empresa
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Tilt rotors
Nonlinear dynamics
Simulation
Hardware-in-the-loop
Vertical take off
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Tilt rotors
Nonlinear dynamics
Simulation
Hardware-in-the-loop
Vertical take off
INGENIERIA DE SISTEMAS Y AUTOMATICA
description [EN] This paper gathers the design and implementation of the control system that allows an unmanned Flying-wing to perform a Vertical Take-Off and Landing (VTOL) maneuver using two tilting rotors (Bi-Rotor). Unmanned Aerial Vehicles (UAVs) operating in this configuration are also categorized as Hybrid UAVs due to their ability of having a dual flight envelope: hovering like a multi-rotor and cruising like a traditional fixed-wing, providing the opportunity of facing complex missions in which these two different dynamics are required. This work exhibits the Bi-Rotor nonlinear dynamics, the attitude tracking controller design and also, the results obtained through Hardware-In-the-Loop (HIL) simulation and experimental studies that ensure the controller's efficiency in hovering operation.
publishDate 2019
dc.date.none.fl_str_mv 2019
2019-02-12
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/192846
url https://riunet.upv.es/handle/10251/192846
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Economía y Competitividad http://dx.doi.org/10.13039/501100003329 DPI2015-71443-R DESARROLLO DE HERRAMIENTAS AVANZADAS PARA METODOLOGIAS DE DISEÑO Y OPTIMIZACION MULTIOBJETIVO EN INGENIERIA DE CONTROL. APLICACION A SISTEMAS MULTIVARIABLES
Generalitat Valenciana https://doi.org/10.13039/501100003359 GV%2F2017%2F029 DESARROLLO Y APLICACION DE TECNICAS BASADAS EN OPTIMIZACION MULTIOBJETIVO PARA MODELADO Y CONTROL DE SISTEMAS NO LINEALES MULTIVARIABLES.
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI AG
publisher.none.fl_str_mv MDPI AG
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301603

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