JRM Vol.21 No.2 pp. 277-283
doi: 10.20965/jrm.2009.p0277


Hovering Control of a Tail-Sitter VTOL Aerial Robot

Koichi Kita, Atsushi Konno, and Masaru Uchiyama

Department of Aerospace Engineering,
Graduate School of Engineering, Tohoku University,
6-6-01 Aramaki-aza-Aoba, Aoba-ku, Sendai 980-8579, Japan

October 20, 2008
January 29, 2009
April 20, 2009
UAV, VTOL, tail-sitter, aerial robot
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.
Cite this article as:
K. Kita, A. Konno, and M. Uchiyama, “Hovering Control of a Tail-Sitter VTOL Aerial Robot,” J. Robot. Mechatron., Vol.21 No.2, pp. 277-283, 2009.
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