Multibody Dynamic Modeling and Control of an Unmanned Aerial Vehicle under Non-Holonomic Constraints

2020 ◽  
Author(s):  
Eric Lanteigne ◽  
Joshua O'Reilly
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Dynamic Modeling ◽  
Modeling And Control ◽  
Holonomic Constraints ◽  
Multibody Dynamic ◽  
Aerial Vehicle ◽  
And Control

Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control

2010 ◽  
pp. 77-93 ◽  
Author(s):  
Kenzo Nonami ◽  
Farid Kendoul ◽  
Satoshi Suzuki ◽  
Wei Wang ◽  
Daisuke Nakazawa
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Vehicle Design ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
And Control

Modeling and control of a quadrotor unmanned aerial vehicle using type-2 fuzzy systems

2021 ◽  
pp. 25-46
Author(s):  
Ayad Al-Mahturi ◽  
Fendy Santoso ◽  
Matthew A. Garratt ◽  
Sreenatha G. Anavatti
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fuzzy Systems ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
And Control

Design Optimization, Modeling, and Control of Unmanned Aerial Vehicle Lifted By Coandă Effect

2017 ◽  
Vol 22 (3) ◽  
pp. 1327-1336 ◽  
Author(s):  
Hyunyong Lee ◽  
Seonhye Han ◽  
Hyoju Lee ◽  
Jaehyeok Jeon ◽  
Choonghan Lee ◽  
...  
Keyword(s):  
Design Optimization ◽  
Unmanned Aerial Vehicle ◽  
Coanda Effect ◽  
Optimization Modeling ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
Coandǎ Effect ◽  
And Control

Modeling and Control of an Unmanned Aerial Vehicle with Tilt Rotors Equipped with a Camera

2019 ◽  
Author(s):  
Thamiris Lima Costa ◽  
Julio Cezar Vendrichoski ◽  
Ebrahim Samer El'Youssef ◽  
Edson Roberto De Pieri
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
And Control

Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle

2012 ◽  
Vol 69 (1-4) ◽  
pp. 227-240 ◽  
Author(s):  
Matko Orsag ◽  
Christopher Korpela ◽  
Paul Oh
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
And Control

scholarly journals Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

2021 ◽  
Vol 11 (19) ◽  
pp. 9108
Author(s):  
Zahra Samadikhoshkho ◽  
Shahab Ghorbani ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Dynamic Modeling ◽  
Sliding Mode ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Modeling And Control ◽  
Practical Applications ◽  
Lagrange Formulation ◽  
Continuum Robot ◽  
Aerial Vehicle ◽  
And Control

Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

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