Design and Control of Drones

Mueller, Mark W.; Lee, Seung-Jae; D’Andrea, Raffaello

doi:10.1146/annurev-control-042920-012045

Cited by 16 publications

(5 citation statements)

References 77 publications

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“…One of the most common UAV designs is the quadcopter which is a multirotor device driven by four independently controlled propellers. The simplicity and agility of quadcopters as explained in (Mueller et al, 2022) have made them one of the preferred choices for a variety of applications, such as surveillance (Jaimes et al, 2008), mapping (Siebert and management (Erdelj et al, 2017). Nevertheless, conventional quadcopters are usually not able to achieve a high top speed, nor are they able to fly efficiently at a high speed.…”

Section: Introductionmentioning

confidence: 99%

QUaRTM: A Quadcopter with Unactuated Rotor Tilting Mechanism capable of faster, more agile, and more efficient flight

2022

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We present QUaRTM – a novel quadcopter design capable of tilting the propellers into the forward flight direction, which reduces the drag area and therefore allows for faster, more agile, and more efficient flight. The vehicle can morph between two configurations in mid-air, including the untilted configuration and the tilted configuration. The vehicle in the untilted configuration has a higher pitch torque capacity and a smaller vertical dimension. The vehicle in the tilted configuration has a lower drag area, leading to a higher top speed, higher agility at high speed, and better flight efficiency. The morphing is accomplished without any additional actuators beyond the four motors of a quadcopter. The rigid connections between the quadcopter frame and the quadcopter arms are replaced with sprung hinges. This allows the propellers to be tilted when high thrusts are produced, and recover to the untilted configuration when the thrusts are brought low. The effectiveness of such a vehicle is demonstrated by running experiments on a prototype vehicle with a shape similar to a regular quadcopter. Through the use of tilting, the vehicle is shown to have a 12.5% higher maximum speed, better high-speed agility as the maximum crash-free cruise speed increased by 7.5%, and a better flight efficiency as the power consumption has dropped by more than 20% in the speed range of 15–20 m s−1.

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Section: Introductionmentioning

confidence: 99%

QUaRTM: A Quadcopter with Unactuated Rotor Tilting Mechanism capable of faster, more agile, and more efficient flight

2022

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“…Different from dynamics of rigid rotorcraft with elastic contacts [30], we study herein the embedded compliance into the MAV arms in a way similar to legged locomotion compliance modeling [31]. We study the dynamics in free flight and collision scenarios separately.…”

Section: Dynamic Modelingmentioning

confidence: 99%

Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions

Liu

Karydis

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Micro Aerial Vehicles (MAVs) often face a high risk of collision during autonomous flight, particularly in cluttered and unstructured environments. To mitigate the collision impact on sensitive onboard devices, resilient MAVs with mechanical protective cages and reinforced frames are commonly used. However, compliant and impact-resilient MAVs offer a promising alternative by reducing the potential damage caused by impacts. In this study, we present novel findings on the impact-resilient capabilities of MAVs equipped with passive springs in their compliant arms. We analyze the effect of compliance through dynamic modeling and demonstrate that the inclusion of passive springs enhances impact resilience. The impact resilience is extensively tested to stabilize the MAV following wall collisions under high-speed and large-angle conditions. Additionally, we provide comprehensive comparisons with rigid MAVs to better determine the tradeoffs in flight by embedding compliance onto the robot's frame.

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“…Containment control algorithms play a pivotal role in enabling optimal routing, collision avoidance, and airspace management, facilitating the seamless integration of aerial mobility services into established urban infrastructures. Moreover, these research endeavors can contribute to the development of resilient and scalable control methodologies capable of accommodating the expected surge in air traffic volume accompanying the expansion of UAM services [5,6], ultimately fostering the realization of more sustainable and inclusive urban transportation solutions.…”

Section: Introductionmentioning

confidence: 99%

Robust Distributed Containment Control with Adaptive Performance and Collision Avoidance for Multi-Agent Systems

Bechlioulis

2024

Electronics

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This paper deals with the containment control problem for multi-agent systems. The objective is to develop a distributed control scheme that leads a sub-group of the agents, called followers, within the convex hull that is formed by the leaders, which operate autonomously. Towards this direction, we propose a twofold approach comprising the following: (i) a cyber layer, where the agents establish, through the communication network, a consensus on a reference trajectory that converges exponentially fast within the convex hull of the leaders and (ii) a physical layer, where each agent tracks the aforementioned trajectory while avoiding collisions with other members of the multi-agent team. The main contributions of this work lie in the robustness of the proposed framework in both the trajectory estimation and the tracking control tasks, as well as the guaranteed collision avoidance, despite the presence of dynamic leaders and bounded but unstructured disturbances. A simulation study of a multi-agent system composed of five followers and four leaders demonstrates the applicability of the proposed scheme and verifies its robustness against both external disturbances that act on the follower model and the dynamic motion of the leaders. A comparison with a related work is also included to outline the strong properties of the proposed approach.

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Design and Control of Drones

Cited by 16 publications

References 77 publications

QUaRTM: A Quadcopter with Unactuated Rotor Tilting Mechanism capable of faster, more agile, and more efficient flight

QUaRTM: A Quadcopter with Unactuated Rotor Tilting Mechanism capable of faster, more agile, and more efficient flight

Toward Impact-resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions

Robust Distributed Containment Control with Adaptive Performance and Collision Avoidance for Multi-Agent Systems

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