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Non-linear model, simulation and control of a new VTOL vehicle concept

This paper presents the derivation of the mathematical model of a Vertical Take-Off and Landing (VTOL) vehicle. We propose a simple tilt rotor like structure modeled as a system of rigid bodies with 8 degrees of freedom and 6 actuators. The full nonlinear model is obtained using D'Alemberts principle in an elegant manner. At the end, the proposed system is simulated and a nonlinear control law is provided for attitude and altitude stabilization.