This paper focuses on a convertible unmanned aerial vehicle (CUAV) whose main characteristics is to perform hover flight for launch or recovery, and horizontal mode during cruise. The dynamic model is obtained using the Newton-Euler approach and it considers the aerodynamic effects. An adaptive backstepping control, based on quaternions, is proposed for the complete operation of the CUAV. The closed-loop system guarantees the stability under a singularity-free representation. Numerical simulations show the performance of the aerial vehicle and the stabilization of the closed-loop system, and finally the avionics of the CUAV is described.


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    Titel :

    Adaptive backstepping control for a convertible UAV


    Beteiligte:
    Martinez, V. (Autor:in) / Garcia, O. (Autor:in) / Sanchez, A. (Autor:in) / Parra, V. (Autor:in) / Escobar, A. (Autor:in)


    Erscheinungsdatum :

    2015-11-01


    Format / Umfang :

    745265 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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