Nonlinear Model and Trajectory Control of A Novel VTOL Vehicle II

This paper presents a new concept of vertical take off and landing vehicle, similar to [10]. The suggested design is relatively simple and eliminates some of the mechanical complexities while maintaining the advantages of tilt-rotor designs. The full nonlinear mathematical model is obtained in great detail, using D'Alembert's principle. A nonlinear control law is derived being able to control the altitude, attitude and some parameters of the vehicle with zero stationary error for step references. Also a trajectory tracking algorithm is proposed. At the end numerical results are presented.