Abstract
AbstractIn this paper, first an overview and explanation of the Oblique Active Tilting (OAT) and Opposed Lateral Tilting (OLT) control concepts are presented. A complete dynamic model of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) having lateral and longitudinal rotor tilting mechanism is developed using a Newton-Euler formulation for double axis OAT mechanism (dOAT). Then, a theoretical analysis of OAT vehicle control response and stability for pitch, roll and yaw motion is described and simulated using the derived dynamic model. The aim of the aspects presented in this paper is to fully enable the highly maneuverable characteristics of UAV possessing dOAT which renders them to navigate in highly confined environments by performing semi-acrobatic maneuvers in hover lateral and forward flight.
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