Non-linear Model, Simulation and Control of A New VTOL Vehicle Concept

被引：2
作者：
Costandin, Marius [1 ]
Costandin, Beniamin [2 ]
Dobra, Petru [1 ]
机构：
[1] Tech Univ Cluj Napoca, Fac Automat & Comp Sci, Cluj Napoca, Romania
[2] NTT Data Cluj Napoca, Cluj Napoca, Romania
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR) | 2018年
关键词：
Mathematical models; Automatic control systems; Attitude control; Aircraft control; Multi-rotors;
D O I：
10.1109/AQTR.2018.8402733
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the derivation of the mathematical model of a Vertical Take-Off and Landing (VTOL) vehicle. We propose a simple tilt rotor like structure modeled as a system of rigid bodies with 8 degrees of freedom and 6 actuators. The full nonlinear model is obtained using D'Alemberts principle in an elegant manner. At the end, the proposed system is simulated and a nonlinear control law is provided for attitude and altitude stabilization.
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页数：6
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