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 tailsitter 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.