Hovering Control of a Tail-Sitter VTOL Aerial Robot | Zendy

Koichi Kita | Zendy; Atsushi Konno | Zendy; Masaru Uchiyama | Zendy

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Hovering Control of a Tail-Sitter VTOL Aerial Robot

Author(s) -

Koichi Kita,

Atsushi Konno,

Masaru Uchiyama

Publication year - 2009

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2009.p0277

Subject(s) - robot , position (finance) , computer science , tracking (education) , control theory (sociology) , trajectory , control (management) , mobile robot , artificial intelligence , physics , psychology , pedagogy , finance , astronomy , economics

This paper describes system development and hovering control of a tail-sitter VTOL aerial robot. The tail-sitter VTOL aerial robot developed from model aircraft parts, sensors, microcomputers, and other components hovers autonomously thanks to attitude, altitude, and position control. Attitude control error averages 1-2°and altitude control error several centimeters. The aerial robot demonstrated both fixed-point hovering and trajectory tracking in hover mode.

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