Conference Paper

# First-Principles Modeling of A Miniature Tilt-Rotor Convertiplane in Low-Speed Operation

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... Error values for the corresponding generalized coordinates (the functions х * , y * , z * ) and the angles (the functions  * ,  * ,  * ), determined by the difference between the actual and the given values, are fed to the input of the regulator, which calculates the values of the control voltages U1−U3, supplied to the actuators, in accordance with the adopted strategy Ui=Ui (x,y,z, , , ). Technically, the system "microcontroller and regulator" is implemented on a hardware-software base and algorithms developed [19][20][21][22]. ...
... V. TASK STATEMENT OF MOTION CONTROL ALONG A GIVEN RECTILINEAR Simply, the robot trajectory projection on the zOx plane is represented as a planar piecewise linear function [19,20]. ...
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Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism
• Kaan Tahaöner
• Mahmut Mustafaünel
• Ilyas Faruk Akşit
• Kayhan Kandemir
• Gülez
Kaan TahaÖner, Ertugrul Ç etinsoy, MustafaÜnel, Mahmut Faruk Akşit, Ilyas Kandemir, and Kayhan Gülez. Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism. 2008.