Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Robotics
Force-Canceling Mixer Algorithm For Vehicles With Fully-Articulated Radially Symmetric Thruster Arrays, Joseph Nicholas Casabona
Force-Canceling Mixer Algorithm For Vehicles With Fully-Articulated Radially Symmetric Thruster Arrays, Joseph Nicholas Casabona
Electronic Theses and Dissertations
A new type of fully-holonomic aerial vehicle is identified and developed that can optionally utilize automatic cancellation of excessive thruster forces to maintain precise control despite little or no throttle authority. After defining the physical attributes of the new vehicle, a flight control mixer algorithm is defined and presented. This mixer is an input/output abstraction that grants a flight control system (or pilot) full authority of the vehicle's position and orientation by means of an input translation vector and input torque vector. The mixer is shown to be general with respect to the number of thrusters in the system provided …
System Identification Of A Circulation Control Unmanned Aerial Vehicle, Mohammed Agha
System Identification Of A Circulation Control Unmanned Aerial Vehicle, Mohammed Agha
Electronic Theses and Dissertations
The advancement in automation and sensory systems in recent years has led to an increase the demand of UAV missions. Due to this increase in demand, the research community has gained interest in investigating UAV performance enhancing systems. Circulation Control (CC), which is an active control flow method used to enhance UAV lift, is a performance enhancing system currently studied. In prior research, experimental studies have shown that Circulation Control wings (CCW) implemented on class-I UAVs can reduce take-off distance by 54%. Wind tunnel tests reveal that CC improves aircraft payload capabilities through lift enhancement. Increasing aircraft payload capabilities causes …