ICRA 2011 Paper Abstract


Paper TuA101.5

Thorne, Chris (University of Pennsylvania), Yim, Mark (University of Pennsylvania)

Towards the Development of Gyroscopically Controlled Micro Air Vehicles

Scheduled for presentation during the Regular Sessions "Aerial Robotics I" (TuA101), Tuesday, May 10, 2011, 09:20−09:35, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Aerial Robotics


Micro air vehicles have emerged as a popular option for diverse robotic and teleoperated applications because of their inherent stealth, portability, and disposability. In this work, we adopt a system-level perspective for the development of a rotary-wing micro air vehicle and propose a new design that utilizes gyroscopic dynamics for attitude control. Unlike traditional vehicles where attitude control moments are generated by aerodynamic control surfaces, the proposed vehicle will leverage the existing angular momentum of its rotating components to generate gyroscopic moments for controlling attitude. The capacity to rapidly generate large gyroscopic control moments, coupled with the precision gained from eliminating the need for complex and restrictive aerodynamic models, improves both agility and adaptability. We present the design and analysis of a new flying machine including the dynamic model with simplified aerodynamics and a control scheme based on a model linearized around hover. Simulations show the responsiveness and stabilization of a simple linear controller for hover.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2020 PaperCept, Inc.
Page generated 2020-04-02  12:53:50 PST  Terms of use