A hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance

Takaaki Matsumoto, Koichi Kita, Ren Suzuki, Atsushi Oosedo, Kenta Go, Yuta Hoshino, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    57 Citations (Scopus)

    Abstract

    The application range of UAVs (unmanned aerial vehicles) is expanding along with performance upgrades. Vertical take-off and landing (VTOL) aircraft has the merits of both fixed-wing and rotary-wing aircraft. Tail-sitting is the simplest way for the VTOL maneuver since it does not need extra actuators. However, conventional hovering control for a tail-sitter UAV is not robust enough against large disturbance such as a blast of wind, a bird strike, and so on. It is experimentally observed that the conventional quaternion feedback hovering control often fails to keep stability when the control compensates large attitude errors. This paper proposes a novel hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance. In order to verify the proposed hovering control strategy, simulations and experiments on hovering of the UAV are performed giving large attitude errors. The results show that the proposed control strategy successfully compensates initial large attitude errors keeping stability, while the conventional quaternion feedback controller fails.

    Original languageEnglish
    Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    Pages54-59
    Number of pages6
    DOIs
    Publication statusPublished - 2010 Aug 26
    Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
    Duration: 2010 May 32010 May 7

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    CountryUnited States
    CityAnchorage, AK
    Period10/5/310/5/7

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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