Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV
<|reference_start|>Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV: We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also describe the realisation of a prototype and a comparison of possible methods for estimating the UAV's states. With this prototype, we report on experimental hovering flights with a non-linear incremental dynamic inversion controller to stabilise the wing and a proportional derivative controller for the fuselage stabilization.<|reference_end|>
@article{sansou2024modelling,
    title={Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV},
    author={Florian Sansou (OPTIM), Gautier Hattenberger (OPTIM), Luca Zaccarian
  (LAAS-MAC), Fabrice Demourant, Thomas Loquen},
    journal={2024 International Conference on Unmanned Aircraft Systems
  (ICUAS), Jun 2024, La Can{\'e}e (Crete), Greece. pp.779-785},
    year={2024},
    doi={10.1109/ICUAS60882.2024.10556832},
    archivePrefix={arXiv},
    eprint={2406.17313},
    primaryClass={cs.RO}
}