Title :
Kinematic and Dynamic Modeling and Control of a 3-Rotor Aircraft
Author :
Rongier, Philippe ; Lavarec, Erwann ; Pierrot, Francois
Author_Institution :
WANY Robotics R& D Department 101 place Pierre Duhem, 34961 Montpellier Cedex 2, France; prongier@wanyrobotics.com
Abstract :
This paper deals with the design of a controller and its implementation in a mini-rotorcraft toy with 3 rotors. A new original low-cost tilt angle sensor is introduced and kinematic and dynamic models are developed and implemented with the aim of developing an autopilot mode to stabilize and maintain hovering flight on demand. The result has to fit into a low-cost microcontroller and run in real-time.
Keywords :
3-rotor aircraft; Planar Vertical Take Off and Landing (PVTOL); aircraft control and dynamics; hovering flight; low-cost tilt angle sensor; Aerospace control; Aircraft; Automatic control; Batteries; Computer crashes; Kinematics; Microcontrollers; Research and development; Robot sensing systems; Stability; 3-rotor aircraft; Planar Vertical Take Off and Landing (PVTOL); aircraft control and dynamics; hovering flight; low-cost tilt angle sensor;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570506
