Modeling and hover attitude control of tail-sitter aircraft

This paper introduces the modeling and control of tail-sitter UAV and the prototype of unmanned aerial vehicle (UAV), in order to realize autonomous hover flight. The prototype machine uses four parallel rotor blades, which can produce larger thrust. For most rotors, the dynamic model is composed of the underexcited subsystem and the fully excited subsystem. The control strategy presented in this paper is to control the horizontal displacement by the angle position of the aircraft, and the control algorithm proved that the control algorithm can fully realize the stable control. But this kind of controller is very complex, so a simplified control algorithm is given, which is more suitable for real time experimental device. The experimental device mainly consists of embedded control system, inertial measurement unit, unmanned aerial vehicle and sensor. The independent hovering experiment was successful, and the airborne flight system and the unmanned aerial vehicle (UAV) were designed.