Real-time stabilization of a small three-rotor aircraft

This paper describes the design and control algorithm of an original configuration for a small aerial vehicle having three rotors with fixed-pitch propellers. The mechanism of forces and moments generation is described and compared with other vertical take-off and landing (VTOL) vehicles. A mathemat...

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Published in:IEEE transactions on aerospace and electronic systems 2008-04, Vol.44 (2), p.783-794
Main Authors: Salazar-Cruz, S., Kendoul, F., Lozano, R., Fantoni, I.
Format: Article
Language:English
Subjects:
Aircraft
Aircraft navigation
Algorithm design and analysis
Algorithms
Couplings
Helicopters
Linear feedback control systems
Mathematical models
Military aircraft
Nonlinear dynamics
Propellers
Real time
Rotors
Sliding mode control
Stabilization
Unmanned aerial vehicles
Vehicle dynamics
Vehicles
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cited_by cdi_FETCH-LOGICAL-c387t-82945fab7180f0c7b0e8a5563c8805496902c567ef5453b13108bf62ee6f3a763
cites cdi_FETCH-LOGICAL-c387t-82945fab7180f0c7b0e8a5563c8805496902c567ef5453b13108bf62ee6f3a763
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container_title IEEE transactions on aerospace and electronic systems
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creator Salazar-Cruz, S.
Kendoul, F.
Lozano, R.
Fantoni, I.
description This paper describes the design and control algorithm of an original configuration for a small aerial vehicle having three rotors with fixed-pitch propellers. The mechanism of forces and moments generation is described and compared with other vertical take-off and landing (VTOL) vehicles. A mathematical model of the body-forces generation process as well as the 6-DOF (degree of freedom) krotorcraft dynamics is presented. A stabilization algorithm is proposed which takes into account the input amplitude bounds as well as nonlinear couplings in the three-rotor dynamics. The performance of the control strategy is shown in real-time experiments.
doi_str_mv 10.1109/TAES.2008.4560220
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source IEEE Electronic Library (IEL) Journals
subjects Aircraft
Aircraft navigation
Algorithm design and analysis
Algorithms
Couplings
Helicopters
Linear feedback control systems
Mathematical models
Military aircraft
Nonlinear dynamics
Propellers
Real time
Rotors
Sliding mode control
Stabilization
Unmanned aerial vehicles
Vehicle dynamics
Vehicles
title Real-time stabilization of a small three-rotor aircraft
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