06.2 - Flight Dynamics and Control (UAV related)

MODELLING AND CONTROL OF A BI-TILT-ROTOR UAV WITH DOUBLE GIMBAL AND CAMERA FOR SURVEILLANCE SYSTEMS APPLICATION

J.C. Vendrichoski¹, T.L. Costa¹, E.S. El´Youssef¹, E.R. de Pieri¹; ¹UFSC, Brazil

This paper presents the modeling and control of an unmanned aerial vehicle (UAV) with two tiltable rotors and that brings a camera coupled through a double gimbal. An integrated model is obtained considering together the dynamics of the UAV and that of the gimbal. The control law employed provides the track of predefined trajectories for the UAV position in space, its heading and camera pointing.

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