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Robust control design based on sliding mode control for hover flight of a mini tail-sitter Unmanned Aerial Vehicle

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5 Author(s)
J. A. Guerrero ; HEUDIASYC UMR 6599 CNRS-UTC, Université de Compiègne, France ; R. Lozano ; G. Romero ; D. Lara-Alabazares
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In this paper, the modeling and robust control design of a vertical flight attitude control for a mini tail-sitter with variable pitch propeller is discussed. Tail-sitters vertical take-off and landing - unmanned aerial vehicles (VTOL-UAVs) have the operational flexibility of a typical helicopter while having the cruise performance of a fixed wing airplanes. The VTOL-UAVs configuration used in this paper is highly unstable in its natural flight state in vertical mode. First of all, a simplified attitude dynamic model that includes interval parametric uncertainty is obtained; then a control law based in the sliding mode control (SMC) technique is applied to stabilize the decoupled attitude control systems. The results are supported by simulation tests.

Published in:

Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE

Date of Conference:

3-5 Nov. 2009