Stabilizing a VTOL Freewing Testbed Vehicle in Hover

Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV

“…We have selected ϵ κ = 0.05 for our experiments. Figure 4 shows the experimental results obtained after implementation of the high-gain filter (9) in the case of a flight generating highamplitude angular oscillations. We carried out differentiation by finite difference (in green) in post-treatment to compare the results.…”

“…where ω F gyro is the angular velocity measured by the gyro on the fuselage, expressed in the fuselage frame, ωκ is the estimated angular velocity of the wing relative to the fuselage, as per (9), and q κ is the quaternion defined in (10). Expression (11) is similar to a composition of angular velocities and a reference frame transformation.…”

“…A long sequence of work has been proposed: modelling and simulation-based analysis of the vibration modes [8], hovering stabilisation of the UAV using a PI-Feed Forward (PIFF) control law [9]. Finally, a work based on a multi-outer loop dynamic inversion control law was presented in [10] with simulations and outdoor flights in windy conditions.…”