Attitude Control of Quad Rotors QTW-UAV with Tilt Wing Mechanism

In this paper, we propose the autonomous attitude control of Quad Tilt Wing (QTW) -UAV. QTW-UAV can realize the vertical takeoff and landing, and hovering flight that seems to be the helicopter, and the high cruising speed that seems to be the fixed-wing aircraft by changing an angle of a rotors and...

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Published inNihon Kikai Gakkai ronbunshū. C Vol. 19; no. 7; pp. 2012 - 2019
Main Authors Suzuki, Satoshi, Ren, Zhijia, Horita, Yoshikazu, Nonami, Kenzo, Kimura, Gaku, Bando, Toshio, Hirabayashi, Daisuke, Furuya, Mituhiro, Yasuda, Kenta
Format Journal Article
LanguageJapanese
Published 01.07.2007
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Summary:In this paper, we propose the autonomous attitude control of Quad Tilt Wing (QTW) -UAV. QTW-UAV can realize the vertical takeoff and landing, and hovering flight that seems to be the helicopter, and the high cruising speed that seems to be the fixed-wing aircraft by changing an angle of a rotors and wings by using tilt mechanism. Firstly, we make the attitude model of QTW-UAV by using identification method. Secondly, we designed attitude control system with kalman filter based LQI control method. And lastly, we show the experiment result. The experiment result shows model based control design are very useful for autonomous control for QTW-UAV.
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ISSN:0387-5024