Abstract
This paper presents attitude stabilization control of the tiltrotor aerial robot that we are developing for information gathering in the disaster area. Tiltrotor aerial robots are suitable to gather information rapidly and correctly, because they can achieve not only high speed and long-range flight but also stable hovering. In our tiltrotor aerial robot, a pair of coaxial rotors with tilt mechanism is mounted in the fuselage for the purposes of keeping the size of the robot small and reducing the risk that rotating rotors hit something. To stabilize the attitude of the robot, three ducted fans are also installed in the fuselage. We derive a model for the aerial robot in hovering flight and construct a control law to stabilize the attitude. Experimental results show that stable hovering flight can be successfully achieved by using the control law.
