Abstract
In this chapter, we propose an autonomous attitude control of a quad tilt wing-unmanned aerial vehicle (QTW-UAV). A QTW-UAV can achieve vertical takeoff and landing; further, hovering flight, which is characteristic of helicopters, and high cruising speeds, which are a characteristic of fixed-wing aircraft, can be achieved by changing the angle of the rotors and wings by a tilt mechanism. First, we construct an attitude model of the QTW-UAV by using the identification method. We then design the attitude control system with a Kalman filter-based linear quadratic integral (LQI) control method; the experiment results show that a model-based control design is very useful for the autonomous control of a QTW-UAV.
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Nonami, K., Kendoul, F., Suzuki, S., Wang, W., Nakazawa, D. (2010). Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control. In: Autonomous Flying Robots. Springer, Tokyo. https://doi.org/10.1007/978-4-431-53856-1_4
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DOI: https://doi.org/10.1007/978-4-431-53856-1_4
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-53855-4
Online ISBN: 978-4-431-53856-1
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