Title :
Modeling and control of a small autonomous aircraft having two tilting rotors
Author :
Kendoul, Farid ; Fantoni, Isabelle ; Lozano, Rogelio
Author_Institution :
Laboratoire Heudiasyc, UMR CNRS 6599, Université de, Technologie de Compiègne, 60200 Compiègne, France. Email: fkendoul@hds.utc.fr
Abstract :
This paper presents recent work concerning a small tiltrotor aircraft with a reduced number of rotors. After several attempts, the final design consists of two propellers mounted laterally. The direction of the thrust can be redirected by tilting the propellers laterally and longitudinally. A theoretical analysis of this mechanism proves its effectiveness and the experimental results show that this aerodynamical configuration is very promising. A model of the full birotor dynamics is also presented in this paper and a controller based on the backstepping procedure is synthesized performing also an autonomous flight.
Keywords :
Aerodynamics; Aerospace control; Backstepping; Military aircraft; Propellers; Prototypes; Rotors; Stability; Trajectory; Unmanned aerial vehicles;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1583480