Mathematical modeling and vertical flight control of a tilt-wing UAV

Authors

KAAN TAHA ÖNER
ERTUĞRUL ÇETİNSOY
EFE SIRIMOĞLU
CEVDET HANÇER
MUSTAFA ÜNEL
MAHMUT FARUK AKŞİT
KAYHAN GÜLEZ
İLYAS KANDEMİR

DOI

10.3906/elk-1007-624

Abstract

This paper presents a mathematical model and vertical flight control algorithms for a new tilt-wing unmanned aerial vehicle (UAV). The vehicle is capable of vertical take-off and landing (VTOL). Due to its tilt-wing structure, it can also fly horizontally. The mathematical model of the vehicle is obtained using Newton-Euler formulation. A gravity compensated PID controller is designed for altitude control, and three PID controllers are designed for attitude stabilization of the vehicle. Performances of these controllers are found to be quite satisfactory as demonstrated by indoor and outdoor flight experiments.

Keywords

Tilt-wing, quadrotor, PID, VTOL, hover

First Page

149

Last Page

157

Recommended Citation

ÖNER, KAAN TAHA; ÇETİNSOY, ERTUĞRUL; SIRIMOĞLU, EFE; HANÇER, CEVDET; ÜNEL, MUSTAFA; AKŞİT, MAHMUT FARUK; GÜLEZ, KAYHAN; and KANDEMİR, İLYAS (2012) "Mathematical modeling and vertical flight control of a tilt-wing UAV," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 20: No. 1, Article 12. https://doi.org/10.3906/elk-1007-624
Available at: https://journals.tubitak.gov.tr/elektrik/vol20/iss1/12