NDLI: Control architecture for a tail-sitter unmanned air vehicle

Content Provider	IEEE Xplore Digital Library
Author	Stone, R.H.
Copyright Year	2004
Description	Author affiliation: Sch. of Aerosp., Mech. & Mechtronic Eng., Sydney Univ., NSW, Australia (Stone, R.H.)
Abstract	This paper details the control and guidance architecture for the T-wing tail-sitter unmanned air vehicle, (UAV). The T-wing is a vertical take off and landing (VTOL) UAV that is capable of both wing-born horizontal flight and propeller born vertical mode flight including hover and descent. During low-speed vertical flight the T-wing uses propeller wash over its aerodynamic surfaces to effect control. At the lowest level, the vehicle uses a mixture of classical and LQR controllers for angular rate and translational velocity control. These low-level controllers are directed by a series of proportional guidance controllers for the vertical, horizontal and transition flight modes that allow the vehicle to achieve autonomous waypoint navigation. The control design for the T-wing is complicated by the large differences in vehicle dynamics between vertical and horizontal flight; the difficulty of accurately predicting the low-speed vehicle aerodynamics; and the basic instability of the vertical flight mode. This paper considers the control design problem for the T-wing in light of these factors. In particular it focuses on the integration of all the different types and levels of controllers into a full flight-vehicle control system.
Starting Page	736
Ending Page	744
File Size	1622855
Page Count	9
File Format	PDF
ISBN	0780388739
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-07-20
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	ASCC
Subject Keyword	Remotely operated vehicles Navigation Propellers Proportional control Control design Velocity control Angular velocity control Aerodynamics Control systems Unmanned aerial vehicles
Content Type	Text
Resource Type	Article

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