Towards the Development of Gyroscopically Controlled Micro Air Vehicles
Micro air vehicles have emerged as a popular option for diverse robotic and teleoperated applications because of their inherent stealth, portability, and disposability. In this work, we adopt a system-level perspective for the development of a rotary-wing micro air vehicle and propose a new design that utilizes gyroscopic dynamics for attitude control. Unlike traditional vehicles where attitude control moments are generated by aerodynamic control surfaces, the proposed vehicle will leverage the existing angular momentum of its rotating components to generate gyroscopic moments for controlling attitude. The capacity to rapidly generate large gyroscopic control moments, coupled with the precision gained from eliminating the need for complex and restrictive aerodynamic models, improves both agility and adaptability. We present the design and analysis of a new flying machine including the dynamic model with simplified aerodynamics and a control scheme based on a model linearized around hover. Simulations show the responsiveness and stabilization of a simple linear controller for hover.
Chris E. Thorne Mark Yim
department of Mechanical Engineering and Applied Mechanics,University of Pennsylvania,Philadelphia,PA,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
26-31
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）