Modeling and Control of a Small Autonomous Aircraft Having Two Tilting Rotors

  • Authors:
  • F. Kendoul;I. Fantoni;R. Lozano

  • Affiliations:
  • Lab. Heudiasyc, Univ. de Technol. de Compiegne;-;-

  • Venue:
  • IEEE Transactions on Robotics
  • Year:
  • 2006

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Abstract

This paper presents recent work concerning a small tiltrotor aircraft with a reduced number of rotors. The design consists of two propellers which can tilt laterally and longitudinally. A model of the full birotor dynamics is provided, and a controller based on the backstepping procedure is synthesized for the purposes of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation