Designing and Developing a Fixed-Wing Tail-sitter Tethered VTOL UAV with Custom Autopilot: A MIMO H¿ Robust Control Approach

• Type: Article in International Conference Proceedings Book
• Date: 2025

Authors

Safaee, A (Author) Other; António Paulo Moreira (Author) FEUP; Aguiar, AP (Author) FEUP

Conference proceedings International

Title: 2025 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS, ICARSC

Pages: 138-143

2025 International Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual

Funchal, PORTUGAL, APR 02-03, 2025

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Other information

Authenticus ID: P-018-VAR

DOI: 10.1109/icarsc65809.2025.10970122

Abstract (EN): This article presents the development of a tethered fixed-wing tail-sitter VTOL (Vertical Take-Off and Landing) Unmanned Aerial Vehicle system. The design focuses on improving energy efficiency by utilizing the wings to harness wind power, similar to a kite, while maintaining VTOL functionality. A distinguishing feature is the purpose-built autopilot system, with custom hardware and software components specifically engineered for this application. The study presents the system identification process for obtaining five MIMO (Multiple-Input Multiple-Output) transfer functions that characterize the dynamics between roll-yaw commands and responses, including the tether angle feedback. To address the inherent coupling effects and uncertainties in the system, robust mixed sensitivity (H-infinity) MIMO controllers are developed. The controllers were validated through both simulations and experimental flights, demonstrating effective performance in handling cross-coupling effects and maintaining stability under various operating conditions. According to flight test findings, the system can precisely manage the tether angle while adjusting for ground effect disturbances. This allows for accurate tethered navigation, a stable attitude, and the maintenance of an adequate yaw heading.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6