Mathematical modeling and vertical flight control of a tilt-wing UAV

摘要

This paper presents a mathematical model and vertical flight controlalgorithms for a new tilt-wing unmanned aerial vehicle (UAV). Thevehicle is capable of vertical take-off and landing (VTOL). Due toits tilt-wing structure, it can also fly horizontally. Themathematical model of the vehicle is obtained using Newton-Eulerformulation. A gravity compensated PID controller is designed foraltitude control, and three PID controllers are designed forattitude stabilization of the vehicle. Performances of thesecontrollers are found to be quite satisfactory as demonstrated byindoor and outdoor flight experiments.