06.2 - Flight Dynamics and Control (UAV related)
MODELING, CONTROL AND HARDWARE-IN-THE-LOOP SIMULATION OF A GENERIC TILTING MULTI-ROTOR
F. Machini¹, I.O. Tarifa¹, R.M.F. Neto¹, L. Sanches¹; ¹Universidade Federal de Uberlāndia, Brazil
This paper deals with the dynamical modeling of a tilted rotor multi-copter aerial vehicle and the design of a trajectory tracking controller using modern control techniques in order to allow the aircraft to follow a pre-defined trajectory. The control law is validated by a hardware-in-the-loop framework using a real microcontroller integrated with a numerical real time simulation..