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Full-Text Articles in Mechanical Engineering
Preliminary Modeling, Control, And Trajectory Design For Miniature Autonomous Tailsitters, Nathan B. Knoebel, Stephen R. Osborne, Deryl Snyder, Timothy W. Mclain, Randal W. Beard, Andrew Mark Eldredge
Preliminary Modeling, Control, And Trajectory Design For Miniature Autonomous Tailsitters, Nathan B. Knoebel, Stephen R. Osborne, Deryl Snyder, Timothy W. Mclain, Randal W. Beard, Andrew Mark Eldredge
Faculty Publications
A tailsitter UAV has unique advantages over typical fixed wing aircraft or hovercraft. This paper highlights topics of interest in our preliminary research in developing a tailsitter UAV. An aerodynamic model and quaternion-based attitude and position control scheme is presented for controlling a tailsitter through hover maneuvers, with simulation results. Desired trajectories are also developed through feedback linearization of the dynamic equations, intended for quaternion-based attitude control. Finally, a hardware platform is proposed.