Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 22, Issue 6, Pages 1297-1302Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2006.882956
Keywords
backstepping methodology; helicopter dynamics modeling; tiltrotor rotorcraft; trajectory tracking
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This paper presents recent work concerning a small tiltrotor aircraft with a reduced number of rotors. The design consists of two propellers which can tilt laterally and longitudinally. A model of the full birotor dynamics is provided, and a controller based on the backstepping procedure is synthesized for the purposes of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation.
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