A class of modular aerial robots
| Autor: | Roberto Naldi, Francesco Forte, Lorenzo Marconi |
|---|---|
| Rok vydání: | 2011 |
| Předmět: |
0209 industrial biotechnology
Engineering Class (computer programming) business.industry Payload 020208 electrical & electronic engineering Work (physics) Control engineering 02 engineering and technology Aerodynamics Modular design Nonlinear control 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Torque Robot business |
| Zdroj: | CDC/ECC |
| Popis: | In this work we consider the modelling of a modular aerial robot obtained by rigidly interconnecting a certain number of ducted-fan aircraft. It is shown how different geometric configurations lead to different dynamical properties of the overall system which can be exploited to improve the achievable closed-loop performances in certain scenarios. Suitable constrained control allocation problems are formulated to show how the modular system performs in presence of possible extra payload and of force and torque disturbances that may derive from the physical interaction with the surrounding environment. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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