Non-linear Model, Simulation and Control of A New VTOL Vehicle Concept

被引：2

作者：

Costandin, Marius ^{[1
]}

Costandin, Beniamin ^{[2
]}

Dobra, Petru ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, Fac Automat & Comp Sci, Cluj Napoca, Romania

[2] NTT Data Cluj Napoca, Cluj Napoca, Romania

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR) | 2018年

关键词：

Mathematical models; Automatic control systems; Attitude control; Aircraft control; Multi-rotors;

D O I：

10.1109/AQTR.2018.8402733

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the derivation of the mathematical model of a Vertical Take-Off and Landing (VTOL) vehicle. We propose a simple tilt rotor like structure modeled as a system of rigid bodies with 8 degrees of freedom and 6 actuators. The full nonlinear model is obtained using D'Alemberts principle in an elegant manner. At the end, the proposed system is simulated and a nonlinear control law is provided for attitude and altitude stabilization.

引用

页数：6

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