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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    Title :

    Real-time stabilization of a small three-rotor aircraft


    Contributors:
    Salazar-Cruz, S. (author) / Kendoul, F. (author) / Lozano, R. (author) / Fantoni, I. (author)


    Publication date :

    2008-04-01


    Size :

    2807043 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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