Title :
Modeling and analysis of a reduced-complexity ducted MAV
Author :
Marconi, L. ; Naldi, R. ; Sala, A.
Author_Institution :
Center for Res. on Complex Automated Syst., Bologna Univ.
Abstract :
In this paper we present preliminary results about the development of a ducted-fan micro aerial vehicle (MAV), of reduced mechanical complexity, capable of stationary flight. Force and torque generation mechanisms are investigated and a nonlinear model for control purpose is derived. A preliminary study of the zero dynamics of the model is derived and its asymptotic properties are investigated in relation to the values of some physical parameters. Finally a simple linear optimal control is designed on the linear approximation of the model
Keywords :
aerospace robotics; control system synthesis; linear quadratic control; microrobots; mobile robots; nonlinear control systems; remotely operated vehicles; stability; ducted-fan micro aerial vehicle; force generation mechanism; linear optimal control design; linear quadratic regulator; mechanical complexity; nonlinear control model; reduced-complexity ducted MAV modeling; torque generation mechanism; Aerodynamics; Control systems; Controllability; Engines; Linear approximation; Optimal control; Rotors; Testing; Unmanned aerial vehicles; Vehicle dynamics;
Conference_Titel :
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location :
Ancona
Print_ISBN :
0-9786720-1-1
Electronic_ISBN :
0-9786720-0-3
DOI :
10.1109/MED.2006.328770
