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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    Title :

    Adaptive backstepping control for a convertible UAV


    Contributors:
    Martinez, V. (author) / Garcia, O. (author) / Sanchez, A. (author) / Parra, V. (author) / Escobar, A. (author)


    Publication date :

    2015-11-01


    Size :

    745265 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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