Modelling and control of a Tilt-Wing Unmanned Aerial Vehicle
Elias Small, Emil Fresk, George K. Andrikopoulos, George Nikolakopoulos · 2016
In this article a Tilt-Wing Unmanned Aerial Vehicle (TW-UAV) and the preliminary evaluation of its hovering characteristics in extended simulation studies are presented. In the beginning, an overview of the TW-UAV's design properties are established, highlighting the novelties of the proposed structure and the overall merits. The TW-UAV's design and structural properties are mathematically modeled and utilized for the synthesis of a cascaded P-PI and PID based control structure for the regulation of its hovering performance. In addition, extensive simulation trials are performed in order to evaluate the structure's efficiency in controlling the TW-UAV's attitude and position under various noise and disturbance scenarios.