Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each  Channel's Nonlinear Controllers Design

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="275905.fig.003a" src="https://static.hindawi.com/articles/mpe/volume-2013/275905/figures/275905.fig.003a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Roll</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="275905.fig.003b" src="https://static.hindawi.com/articles/mpe/volume-2013/275905/figures/275905.fig.003b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Pitch</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="275905.fig.003c" src="https://static.hindawi.com/articles/mpe/volume-2013/275905/figures/275905.fig.003c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Yaw</td></tr></table></td></tr></table>

<table>Nonlinear model with LQR control gain in each channel.</table>

Mathematical Problems in Engineering

fig3

Figure 3

Figure 3: Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each  Channel's Nonlinear Controllers Design 