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
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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