Design and Implementation of an Unmanned Tail-sitter

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Author(s) Bapst, Roman, Ritz, Robin, Meier, Lorenz, Pollefeys, Marc
Publication Type Conference Contributions, Publication Status: Published
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Title Design and Implementation of an Unmanned Tail-sitter
Author(s) Bapst, Roman
Ritz, Robin
Meier, Lorenz
Pollefeys, Marc
Book Title 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN 978-1-4799-9993-4
978-1-4799-9994-1
Start Page 1885
End Page 1890
Publisher IEEE
Publication Place Piscataway, NJ
Publication Date 2015
Abstract We present the design and implementation of a small Vertical-Take-Off-and-Landing (VTOL) aircraft. The vehicle requires minimal additional components to achieve the hover capability and is thus very efficient in forward flight. We improve over the state of the art by using a single controller in all flight modes without using blending between hover condition and fixed wing controllers or gain scheduling. We present a compact airflow estimation model for VTOL airframes which rely on the slipstream across control surfaces for hover attitude control. Furthermore we show attitude and position control results in simulation. Finally we show outdoor flight experiments validating our simulation results.
DOI 10.1109/IROS.2015.7353624
Event Name 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location Hamburg, Germany
Event Date September 28 - October 2, 2015
Document Type Conference Paper
Publication Status Published
Language English
Assigned Organisational Unit(s) 03766
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@inproceedings{Bpst2015,
  author = "Bapst, Roman and Ritz, Robin and Meier, Lorenz and Pollefeys, Marc",
  title = "{D}esign and {I}mplementation of an {U}nmanned {T}ail-sitter",
  booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
  year = 2015,
  pages = "1885--1890",
  address = "Piscataway, NJ",
  publisher = "IEEE",
}


E-Citations record created: Thu, 29 Oct 2015, 10:05:59 CET