This paper aims to provide a modeling and controller design for a tilt tri-rotor unmanned aerial vehicle (UAV). A Tilt Tri-Rotor UAV has two front rotors that can tilt from the vertical to the horizontal position, however, the third rotor is fixed in the aft fuselage with a small angle. Because of the complex structure and aerodynamics, the modeling and control of tilt tri-rotor UAVs remain a problem. In this paper, the PID controller is designed to stabilize the tilt tri-rotors UAV over a certain trajectory by combining the theory of dynamic inversion and sliding mode control. Parameters of the PID controller are obtained after stimulation with Simulink. The obtained PID parameters are implemented in the flight controller of tilt-tri rotors for flight tests in hover mode. The results show high stability.
Modeling and Controller Design of a Tilt Tri-Rotor UAV
Lect.Notes Mechanical Engineering
Regional Conference in Mechanical Manufacturing Engineering ; 2021 ; Hanoi, Vietnam December 10, 2021 - December 12, 2021
The AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and Mechanical Manufacturing Engineering ; Kapitel : 114 ; 1356-1368
2022-06-01
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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