Dynamic modeling and hardware-in-loop simulation for a tail-sitter unmanned aerial vehicle in hovering flight

Jingxuan Sun, Boyang Li, Lu Shen, Chih Keng Chen, Chi Yung Wen

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

11 Citations (Scopus)


This paper presents a hardware-in-loop (HIL) simulation method for a tail-sitter vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). A six-degree-of-freedom (DOF) dynamic model for the tail-sitter vehicle is obtained with an aerodynamic database. An HIL simulation environment is developed that is capable of real-time dynamic simulation and supports a robot operating system (ROS)-based open-source autopilot. An independent ROS package is developed for data communication between a simulator and flight control computer. The hardware-in-loop setup is an indispensable tool for both hardware and software design of the control system for tail-sitter vehicles.

Original languageEnglish
Title of host publicationAIAA Modeling and Simulation Technologies Conference, 2017
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624104510
Publication statusPublished - Jan 2017
EventAIAA Modeling and Simulation Technologies Conference, 2017 - Grapevine, United States
Duration: 9 Jan 201713 Jan 2017

Publication series

NameAIAA Modeling and Simulation Technologies Conference, 2017


ConferenceAIAA Modeling and Simulation Technologies Conference, 2017
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Aerospace Engineering
  • Modelling and Simulation

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