Journal of Intelligent & Robotic Systems

, Volume 84, Issue 1–4, pp 53–66 | Cite as

Design and Control of a Single Tilt Tri-Rotor Aerial Vehicle



The aim of this paper is to outline a design process of an attitude control system for unmanned rotorcraft. This small-scale unmanned aerial robot’s concept is based on three rotors and one single tilt mechanism. Final design is consisted of mechanical construction, measurement system including navigation algorithm, as well as control structure and algorithm implementation at the last stage. It is important to underline that high attention was focused on the measurements filtering, estimation of the angular position, and in particular the practical aspects of the control implementation. Furthermore, a PID algorithm including various modified loop structures was studied. On the whole, it is worth to mention that the design, analysis and the validation tests were undertaken on the experimental aerial platform.


VTOL Attitude control system Navigation algorithms Cascade control system AHRS 


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Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  • Roman Czyba
    • 1
  • Grzegorz Szafrański
    • 1
  • Andrzej Ryś
    • 1
  1. 1.Silesian University of TechnologyGliwicePoland

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