Kinematic and Dynamic Modeling and Control of a 3-Rotor Aircraft

Abstract—This paper deals with the design of a controller and its implementation in a mini-rotorcraft toy with 3 rotors. A new original low-cost tilt angle sensor is introduced and kinematic and dynamic models are developed and implemented with the aim of developing an autopilot mode to stabilize and maintain hovering flight on demand. The result has to fit into a low-cost microcontroller and run in real-time. Index Terms: 3-rotor aircraft, hovering flight, Planar Vertical Take Off and Landing (PVTOL), aircraft control an