Modeling and control of a small autonomous aircraft having two tilting rotors

IEEE Transactions on Robotics

Volumn 22, Issue 6, 2006, Pages 1297-1302

  Kendoul, Farid ^a   Fantoni, Isabelle ^a   Lozano, Rogelio ^a  

^a UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

Author keywords

Backstepping methodology; Helicopter dynamics modeling; Tiltrotor rotorcraft; Trajectory tracking

Indexed keywords

AIRCRAFT; AIRCRAFT PROPELLERS; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; HELICOPTER ROTORS; MACHINE DESIGN; TRAJECTORIES;

BIROTOR DYNAMICS; TILTROTOR ROTORCRAFT; TRAJECTORY TRACKING;

REMOTELY OPERATED VEHICLES;

EID: 33845515467     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2006.882956     Document Type: Article

References (12)

1. G. K. Yamauchi, A. J. Wadcock, and M. R. Derby, "Measured aerodynamic interaction of two tiltrotors," in Proc. AHS 59th Annu. Forum, Phoenix, AZ, May 2003, pp. 1720-1731.
2. D. Wyatt, Bell Eagle Eye UAV Pocket Guide. Fort Worth, TX: Bell Helicopter Textron, Inc., 2004.
3. S. M. Barkai, O. Rand, R. J. Peyran, and R. M. Carlson, "Modelling and analysis of tilt-rotor aeromechanical phenomena," in Mathematical and Computer Modelling. Amsterdam, The Netherlands: Elsevier, 1990, vol. 27, pp. 17-43S.
4. M. Barkai, O. Rand, R. J. Peyran, and R. M. Carlson, "Modeling and analysis of tilt-rotor aeromechanical phenomena," in Amer. Helicopter Soc. Aeromech. Specialists Conf., Bridgeport, CT, Oct. 1995.
5. G. R. Gress, "Using dual propellers as gyroscopes for tilt-prop hover control," in Proc. AIAA Biennial Int. Powered Lift Conf. Exhibit, Williamsburg, VA, Nov. 2002, Paper AIAA-2002-5968.
6. F. Kendoul, I. Fantoni, and R. Lozano, "Modeling and control of a small autonomous aircraft having two tilting rotors," in Proc. 44th IEEE Conf. Decision Control/Euro. Control Conf., Seville, Spain, Dec. 2005, pp. 8144-8149.
7. I. Fantoni and R. Lozano, Non-linear Control for Underactuated Mechanical Systems, ser. Commun. Control Eng.. New York: Springer-Verlag, 2002.
8. R. Mahony and T. Hamel, "Robust trajectory tracking for a scale model autonomous helicopter," Int. J. Robust Nonlinear Control, vol. 14, pp. 1035-1059, 2004.
9. R. Sepulcre, M. Jankovic, and P. Kokotovic, Constructive Nonlinear Control, ser. Commun. Control Eng.. New York: Springer-Verlag, 1997.
10. G. R. Gress, "A dual-fan VTOL aircraft using opposed lateral tilting for pitch control," in Proc. Amer. Helicopter Soc. 59th Annu. Forum, Phoenix, AZ, May 2003, pp. 2201-2238.
11. R. W. Prouty, Helicopter Performance, Stability, and Control. Malabar, FL: K. P. Compagny, 1995.
12. P. Castillo, A. Dzul, and R. Lozano, "Real-time stabilization and tracking of a four rotor mini-rotorcraft," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Sendai, Japan, Oct. 2004, pp. 2693-2698.