Real-Time Control of a Small-Scale Helicopter Having Three Rotors

This paper presents an original configuration for a small aerial vehicle based on three rotors with fixed-angle propellers. The process of control vectors generation is described, and a detailed mathematical modeling of the aircraft dynamics is presented. We have also proposed a control strategy for...

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Bibliographic Details
Main Authors: Salazar-Cruz, S., Kendoul, F., Lozano, R., Fantoni, I.
Format: Conference Proceeding
Language:English
Subjects:
Aerospace control
Aircraft
Control systems
Helicopters
Intelligent robots
Remotely operated vehicles
Rotors
Tail
Unmanned aerial vehicles
Vehicle dynamics
Online Access:Request full text
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Description
Summary:This paper presents an original configuration for a small aerial vehicle based on three rotors with fixed-angle propellers. The process of control vectors generation is described, and a detailed mathematical modeling of the aircraft dynamics is presented. We have also proposed a control strategy for full stabilization of the tri-rotor aircraft considering some real constraints specific to small UAVs. The synthesized controller is simple and results in good performance as demonstrated in simulations and in real-time experiments. We have also developed a useful Simulink-based platform for real-time control purposes
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.282145