Flight Experiment for Seamless 90-Degree Attitude Transition Flight of a Quad Tilt-rotor UAV
Yusuke Sakai, Satoko Abiko · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2020
With the addition of actuators, the quad tilt-rotor UAV allows independent control of position and attitude and can also hover with tilting attitude. However, to change the attitude from 0 degree to 90 degrees, the conventional control methods switched two control methods depending on the attitude. Therefore, a large overshoot and difficulty of hovering in certain tilting attitudes were observed. To solve the above issues, a seamless attitude transition control method has been developed and verified by numerical simulation. This paper describes the verification of the developed seamless attitude transition control method by flight experiment.