Juan Escareño

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In this paper we address the stabilization of the attitude and position of a birotor miniUAV to perform autonomous flight. For this purpose, we have implemented a Kalman-based sensor fusion between inertial sensors (gyros-accelerometers) and the optical flow (OF) provided by the vehicle. This fusion algorithm extracts the translational-OF (TOF) component(More)
The goal of this paper is to present a novel configuration for a three-rotor mini Unmanned Aerial Vehicle (UAV). The proposed design incorporates advantageous structural features which enhance the maneuverability of the rotorcraft. The detailed mathematical model of the vehicle’s attitude is obtained through the Newton-Euler formulation. In terms of(More)
This paper describes the modeling, control and hardware implementation of an experimental tilt-rotor aircraft. This vehicle combines the high-speed cruise capabilities of a conventional airplane with the hovering capabilities of a helicopter by tilting their four rotors. Changing between cruise and hover flight modes in mid-air is referred to transition.(More)
This paper describes the vertical-flight mode of a novel unmanned air vehicle configuration designed to perform either vertical or forward flight. We present the mathematical model of the aircraft's attitude in vertical mode which is derived via the Euler-Lagrange formulation, followed by the control strategy, based on saturations. The control strategy is(More)