A simple controller for the transition maneuver of a tail-sitter drone

Abstract

This paper presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position dynamics. The controller design is based on Lyapunov approach and linear saturation functions. Simulations experiments demonstrate the effectiveness of the derived theoretical results.

arXiv commentPaper accepted for presentation at 57th IEEE Conference on Decision and Control (CDC 2018)