Abstract
In this paper we address the development of a single-rotor tail-sitter Unmanned Aerial Vehicle (UAV), whose configuration provides structural benefits for flight stabilization. The mathematical model of the vertical take-off landing (VTOL) aircraft is obtained through the Newton-Euler approach. In order to stabilize the vehicle we employ a control algorithm based on separated saturation functions. To perform an on-board control, we have designed and manufactured a customized embedded system. The simulation and experimental results show the good performance of the aircraft in autonomous hover flight, even in the presence of external perturbations.
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