Modeling and Attitude Control Analysis of a Spherical VTOL Aerial Vehicle

Loh, Weng Kheong; Jacob, Jamey

doi:10.2514/6.2013-1092

Cited by 8 publications

(4 citation statements)

References 3 publications

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“…When the power is low, it can use the rolling mode to roll omnidirectionally on the ground. Following JFS, the typical structures of single propeller and control blade are BYFQ 57 (as shown in Figure 14(b)), UFRO 58 (as shown in Figure 14(c)), TVAC 59 (as shown in Figure 14(d)), and UNI-copter 60 (as shown in Figure 14(e)). Beyer and Costello 61 proposed a micro coaxial two propeller robot hopping Rotochute (as shown in Figure 14(f)) with flying and jumping capabilities for complex environments such as caves and collapsed buildings.…”

Section: Classification and Research Status Of Spherical Mobile Robot...mentioning

confidence: 99%

Special spherical mobile robot for planetary surface exploration: A review

Gao

et al. 2023

International Journal of Advanced Robotic Systems

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Considering the requirements of high scientific return, low cost, less complexity, and more reliability for the robot proposed by the extreme environment exploration task on the planet surface, this article comprehensively reviews the history of the special spherical robot used for extraterrestrial surface exploration and summarizes the environmental characteristics and task difficulties of different planet surface. This article compares the advantages of different types of ground spherical robots and points out the superiority of special spherical robots, such as omni-direction, airtightness, zero-radius turning, under-actuated, swarming, and lightweight. In addition, the research progress of special spherical robots for extraterrestrial exploration, such as wind ball, jumping ball, fly ball, ball with leg, pendulum driven ball, tensegrity structure, are reviewed respectively. Finally, the performance characteristics of all these robots are analyzed, their application scope given.

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Section: Classification and Research Status Of Spherical Mobile Robot...mentioning

confidence: 99%

Special spherical mobile robot for planetary surface exploration: A review

Gao

et al. 2023

International Journal of Advanced Robotic Systems

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“…Figure 6. View of encased drones, (a) Spherical Drone [166], (b, c) UFRO [167], (d) Glimball [168], (e, f) PRSS UAV [169], (g) Simha et al's Drone [170], (h) Spherical Drone [171], and (i, j) isphere [172].…”

Section: Suitable Drone Configuration For Underground Mining Applicatmentioning

confidence: 99%

A Comprehensive Review of Applications of Drone Technology in the Mining Industry

Shahmoradi

Talebi

Roghanchi

et al. 2020

Drones

230

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This paper aims to provide a comprehensive review of the current state of drone technology and its applications in the mining industry. The mining industry has shown increased interest in the use of drones for routine operations. These applications include 3D mapping of the mine environment, ore control, rock discontinuities mapping, postblast rock fragmentation measurements, and tailing stability monitoring, to name a few. The article offers a review of drone types, specifications, and applications of commercially available drones for mining applications. Finally, the research needs for the design and implementation of drones for underground mining applications are discussed.

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“…An attitude controller of the SUAV is able to attain a desired position on the X and Y axes, since the movements along the X and Y axes are accompanied by controlling θ and ϕ. The combination of the frame area of the SUAV and the reaction torque produced by the motor speed is used for ψ control [5]. The key in this work is the control of θ and ϕ using the torque generated by varying the CG.…”

Section: A Center-of-gravity Variationmentioning

confidence: 99%

“…Malandrakis et al and Loh and Jacob demonstrated SUAVs consist of a contrarotating (parts of a mechanism rotate in opposite directions about a common axis) motor and several control vanes [5,6]. The contrarotating motor is used to minimize the reaction torque generated by the motor rotation, and a classical proportional-integral-derivative (PID) control law is applied for attitude control.…”

Section: Introductionmentioning

confidence: 99%

Center-of-Gravity Variation-Driven Spherical UAV System and Its Control Law

Kim

Yang

2020

International Journal of Aerospace Engineering

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Most of the spherical unmanned aerial vehicles (SUAVs) use control surfaces, which are functions of aileron and an elevator, to generate control torque. The work proposes a new conceptual design of an SUAV system controlled through center-of-gravity (CG) variations with its path-tracking control law designed for the system. Compared to the one using control surfaces, the concept suggested is beneficial in the aspect of the expandability of building lighter and smaller SUAVs, especially. A CG variation principle by actuating a pendulum type of a moving part is considered as a methodology for both translational and rotational motion control of an SUAV. Since variations of the moment-of-inertia (MOI) elements which resulted from the motion of the moving part affect the performance of the suggested method, the variations of MOI analysis are performed for all angular ranges of the moving part. As a result, certain angular ranges for the moving part to prevent the degradation of the path-tracking performance by the effect of the MOI changes are found. By considering the findings, numerical studies are performed for hovering, ascent, descent, and horizontal tracking missions. The applicability of the proposed SUAV system and the corresponding controller to achieve the path-tracking missions is demonstrated through the numerical simulation.

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Modeling and Attitude Control Analysis of a Spherical VTOL Aerial Vehicle

Cited by 8 publications

References 3 publications

Special spherical mobile robot for planetary surface exploration: A review

Special spherical mobile robot for planetary surface exploration: A review

A Comprehensive Review of Applications of Drone Technology in the Mining Industry

Center-of-Gravity Variation-Driven Spherical UAV System and Its Control Law

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