vertical takeoff, tailsitter, unmanned aircraft, quaternion, attitude control, hover
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.
Ira A. Fulton College of Engineering and Technology
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