Attitude stabilization of a convertible mini birotor

This paper describes the vertical-flight mode of a novel unmanned air vehicle configuration designed to perform either vertical or forward flight. We present the mathematical model of the aircraft´s attitude in vertical mode which is derived via the Euler-Lagrange formulation, followed by the control strategy, based on saturations. The control strategy is simple for embedded applications and it showed a good performance as is demonstrated in simulations and in realtime experiments.