Attitude stabilization of a convertible mini birotor

@article{Escareo2006AttitudeSO,
  title={Attitude stabilization of a convertible mini birotor},
  author={Juan-Antonio Escare{\~n}o and S. Salazar-Cruz and Rogelio Lozano},
  journal={2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control},
  year={2006},
  pages={2202-2206}
}
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 simple for embedded applications and it showed a good performance as is demonstrated in simulations and in realtime experiments. 
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