%0 Journal Article
	%A Kaan T. Oner and  Ertugrul Cetinsoy and  Efe Sirimoglu and  Cevdet Hancer and  Taylan Ayken and  Mustafa Unel
	%D 2009
	%J International Journal of Aerospace and Mechanical Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 34, 2009
	%T LQR and SMC Stabilization of a New Unmanned Aerial Vehicle
	%U https://publications.waset.org/pdf/2009
	%V 34
	%X We present our ongoing work on the development
of a new quadrotor aerial vehicle which has a tilt-wing
mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using
Newton-Euler formulation. Linear and nonlinear controllers for
the stabilization of attitude of the vehicle and control of its
altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite
effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also
been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide
satisfactory performance in achieving desired maneuvers.
	%P 1190 - 1195