A Prototype of Ducted-Fan Aerial Robot with Redundant Control Surfaces

This work presents the aero-mechanical characteristics and the control design for a prototype of ducted-fan aerial robot tailored to achieve advanced robotics operations requiring physical interaction with the environment and high maneuverability. The distinguishing feature of the proposed aerial co...

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Veröffentlicht in:Journal of intelligent & robotic systems 2014-09, Vol.76 (1), p.137-150
Hauptverfasser: Naldi, Roberto, Marconi, Lorenzo
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description This work presents the aero-mechanical characteristics and the control design for a prototype of ducted-fan aerial robot tailored to achieve advanced robotics operations requiring physical interaction with the environment and high maneuverability. The distinguishing feature of the proposed aerial configuration is the redundant number of aerodynamic surfaces which can be employed by the controller. A control strategy is then proposed in which control allocation techniques exploit this redundancy to improve the accuracy and the efficiency of the aerodynamic forces and torques generation mechanism while simplifying the overall feedback design. The effectiveness of the proposed approach and the performances of the ducted-fan prototype have been demonstrated by means of flight experiments.
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source SpringerNature Journals
subjects Aerials
Artificial Intelligence
Control
Control surfaces
Design engineering
Electrical Engineering
Engineering
Mechanical Engineering
Mechatronics
Prototypes
Redundant
Robot control
Robotics
Robots
title A Prototype of Ducted-Fan Aerial Robot with Redundant Control Surfaces
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