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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 275905, 6 pages
Research Article

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

1Department of Electrical Engineering, Southern Taiwan University of Science and Technology, Tainan, Taiwan
2Mechanical Engineering Department, Southern Taiwan University of Science and Technology, Tainan, Taiwan

Received 2 July 2013; Revised 20 August 2013; Accepted 27 August 2013

Academic Editor: Dan Wang

Copyright © 2013 Juing-Shian Chiou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper has implemented nonlinear control strategy for the single tilt tri-rotor aerial robot. Based on Newton-Euler’s laws, the linear and nonlinear mathematical models of tri-rotor UAVs are obtained. A numerical analysis using Newton-Raphson method is chosen for finding hovering equilibrium point. Back-stepping nonlinear controller design is based on constructing Lyapunov candidate function for closed-loop system. By imitating the linguistic logic of human thought, fuzzy logic controllers (FLCs) are designed based on control rules and membership functions, which are much less rigid than the calculations computers generally perform. Effectiveness of the controllers design scheme is shown through nonlinear simulation model on each channel.