Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV: Part 2

Abstract

[EN] This paper gathers the dynamical modeling of an unmanned aircraft and the design and simulation of the control system, allowing it to perform a Vertical Take-Off (VTOL) maneuver, a fixed-wing (FW) flight and a transition between the two configurations using two tilting rotors (Bi-Tilt). These Unmanned Aerial Vehicles (UAVs) operating in this configuration are categorized as Hybrid UAVs, for their capability of having a dual flight envelope: flying like a multi-rotor and navigating like a traditional fixed-wing aircraft, allowing the drone to perform complex missions where these two flight configurations are essential. This work exhibits the Bi-Rotor non-linear dynamics, valid for both flight configurations, the design of the control algorithm for stability and navigation, and a simulation of a complete flight mission.