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Longitudinal study of a tilt-body vehicle: modeling, control and stability analysis

Lustosa, Leandro R. and Defaÿ, François and Moschetta, Jean-Marc Longitudinal study of a tilt-body vehicle: modeling, control and stability analysis. (2015) In: Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS '15) 2015, 9 June 2015 - 12 June 2015 (Denver, Colorado, United States).

(Document in English)

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This work studies a longitudinal high incidence flight envelope dynamic model for use in a convertible tilt-body vehicle designed for indoor/outdoor environments. The model assumptions are chosen so that a singularity-free nonlinear differential equation system is obtained. The model is complex enough to predict wind tunnel experiments yet simple enough to be described by analytical expressions (instead of physically difficult to interpret lookup tables). Wind tunnel measurements took place to identify flying model parameters, validate model and support autopilot design by means of scheduled linear quadratic regulator controller. Finally, controller design is validated by means of stability analysis based on regions of attraction computation via Lyapunov theorems and invariant sets during the entire transition between airplane mode and hover mode.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Deposited On:26 Jan 2016 12:14

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