Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866909230678671360 |
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| author | Sansou, Florian Hattenberger, Gautier Zaccarian, Luca Demourant, Fabrice Loquen, Thomas |
| author_facet | Sansou, Florian Hattenberger, Gautier Zaccarian, Luca Demourant, Fabrice Loquen, Thomas |
| contents | We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also describe the realisation of a prototype and a comparison of possible methods for estimating the UAV's states. With this prototype, we report on experimental hovering flights with a non-linear incremental dynamic inversion controller to stabilise the wing and a proportional derivative controller for the fuselage stabilization. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_17313 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV Sansou, Florian Hattenberger, Gautier Zaccarian, Luca Demourant, Fabrice Loquen, Thomas Robotics We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also describe the realisation of a prototype and a comparison of possible methods for estimating the UAV's states. With this prototype, we report on experimental hovering flights with a non-linear incremental dynamic inversion controller to stabilise the wing and a proportional derivative controller for the fuselage stabilization. |
| title | Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV |
| topic | Robotics |
| url | https://arxiv.org/abs/2406.17313 |