What is it about?
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter UAV called swiveling biplane quadrotor. The vehicle is underactuated in attitude configuration manifold. An output tracking problem is posed which results in a single equivalent rigid body attitude tracking problem with second-order moment dynamics. The proposed controller is uniformly valid for all attitudes and is based on dynamic feedback linearization in a geometric control framework.
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Why is it important?
Design of a new and efficient biplane tailsitter capable of vertical takeoff and landing. This work solves an underactuated attitude control problem in a coordinate-free geometric control framework.
Read the Original
This page is a summary of: Attitude Control of Novel Tail Sitter: Swiveling Biplane–Quadrotor, Journal of Guidance Control and Dynamics, March 2020, American Institute of Aeronautics and Astronautics (AIAA), DOI: 10.2514/1.g004697.
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