Dynamic Model and Control of a New Quadrotor Unmanned Aerial Vehicle with Tilt-Wing Mechanism

In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for the vertical flight mode has also been developed and its performance has been tested with several simulations.

Authors:

• Kaan T. Oner
• Ertugrul Cetinsoy
• Mustafa Unel
• Mahmut F. Aksit
• Ilyas Kandemir
• Kayhan Gulez

Keywords:

• Control
• Dynamic model
• LQR
• Quadrotor
• Tilt-wing
• VTOL.

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