This paper describes the design and control algorithm of an original configuration for a small aerial vehicle having three rotors with fixed-pitch propellers. The mechanism of forces and moments generation is described and compared with other vertical take-off and landing (VTOL) vehicles. A mathematical model of the body-forces generation process as well as the 6-DOF (degree of freedom) krotorcraft dynamics is presented. A stabilization algorithm is proposed which takes into account the input amplitude bounds as well as nonlinear couplings in the three-rotor dynamics. The performance of the control strategy is shown in real-time experiments.


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    Titel :

    Real-time stabilization of a small three-rotor aircraft


    Beteiligte:
    Salazar-Cruz, S. (Autor:in) / Kendoul, F. (Autor:in) / Lozano, R. (Autor:in) / Fantoni, I. (Autor:in)


    Erscheinungsdatum :

    01.04.2008


    Format / Umfang :

    2807043 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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