Hovering Control of a Tail-Sitter VTOL Aerial Robot

Abstract

This paper describes system development and hovering control of a tail-sitter VTOL aerial robot. The tail-sitter VTOL aerial robot developed from model aircraft parts, sensors, microcomputers, and other components hovers autonomously thanks to attitude, altitude, and position control. Attitude control error averages 1-2°and altitude control error several centimeters. The aerial robot demonstrated both fixed-point hovering and trajectory tracking in hover mode.