Keywords
vertical takeoff, tailsitter, unmanned aircraft, quaternion, attitude control, hover
Abstract
The tailsitter is a promising airframe that can take off and land on its tail and transition to level flight. While this ability provides vertical takeoff and landing capabilities with no additional moving parts, it introduces interesting control challenges. In this paper, we look at the attitude control system of a tailsitter in hover flight and show that the behaviour of the aircraft relies on the method used to compute the attitude error. We investigate three different methods of computing the attitude error, quaternion feedback, resolved tilt twist, and the resolved Euler angles, and compare them through simulated hover flight.
Original Publication Citation
Argyle, M., Beach, J., Beard, R., McLain, T., and Morris, S. Quaternion Based Attitude Error for a Tailsitter in Hover Flight, Proceedings of the American Control Conference, pp. 1396-1401, June 2014, Portland, Oregon.
BYU ScholarsArchive Citation
McLain, Timothy; Argyle, Matthew E.; Beach, Jason M.; Beard, Randall W.; and Morris, Stephen, "Quaternion Based Attitude Error for a Tailsitter in Hover Flight" (2014). Faculty Publications. 1896.
https://scholarsarchive.byu.edu/facpub/1896
Document Type
Conference Paper
Publication Date
2014-6
Permanent URL
http://hdl.lib.byu.edu/1877/3849
Publisher
IEEE
Language
English
College
Ira A. Fulton College of Engineering and Technology
Department
Mechanical Engineering
Copyright Status
© Copyright 2017 IEEE - All rights reserved. This is the author's submitted version of this article. The definitive version can be found at http://ieeexplore.ieee.org/document/6859324/
Copyright Use Information
http://lib.byu.edu/about/copyright/