A tethered autogyro with articulated rotors can operate as an unmanned aerial vehicle capable of energy-efficient, long-duration deployment by utilizing ambient wind energy to sustain flight. This article presents a model-based attitude control technique for such a system using a full-fidelity dynamic model. Using Lagrangian approach combined with Blade Element Momentum Theory and catenary mechanics, a previously developed 2D hybrid model is extended to three dimensions. The new model describes the complete rigid-body motion of the frame, including roll and yaw dynamics, and is augmented with rotor speed and flapping degrees of freedom for each blade. Equilibrium characteristics are examined through steady-state responses and compared with the prior model. The resulting trends of equilibria are found to be consistent with those reported in the literature. A feedback control strategy based on regenerative differential rotor braking is developed to modulate all three attitude angles. Simulations demonstrate effective attitude regulation and stable flight.
Coaxial rotor drones have generated considerable interest because of energy efficiency and small size, but they are afflicted with inherent underactuation for roll and pitch control, although systems like swashplates have circumvented this limitation at the cost of greater mechanical complexity. This work presents a no...
A. Jokar, Amin Talaeizadeh, A. Alasty· 0 citations
The suspension structure between the canopy and the payload directly affects the payload attitude stability and landing safety of parafoil systems. To quantitatively evaluate the influence of different suspension structures, this paper develops a twelve-degree-of-freedom (12-DOF) multibody dynamic model by extending th...
Tian-Guo Jie, Qing-Bin Zhang, Zhi-Wei Feng et al.· Journal of Physics, Conferen...· 0 citations
Conventional multirotors must modify their attitude to generate lateral forces, since they are underactuated platforms. This limitation hinders tasks where independent control of position and orientation is required, such as inspection, surface tracking, or physical interaction. This paper presents themodelling, contro...
M. Hernández-Rojo, A. González-Morgado, A. Ollero et al.· Jornadas de Automática· 0 citations
Directional asymmetry and Dutch-roll are critical phenomena observed during powered parafoil vehicle (PPV) flight tests, complicating stable flight and leading to obvious lateral–directional biases in autopilot tracking. However, existing PPV models typically neglect propeller counter-torque (PCT), resulting in limited...
Wenying Zeng, Wei-Liang He, Chuang Du et al.· Aerospace· 0 citations
This paper presents the design of a control strategy based on exact feedback linearization and dynamic stabilization for the mathematical model of a benchmark Quanser platform emulating the elevation, pitch, and travel motions of a three-degree-of-freedom (3-DOF) tandem helicopter. The orientation dynamics of the aeria...
J. G. Alonso-Alfaro, S. A. Rodríguez-Paredes, Jesús Martínez-Martínez et al.· Processes· 0 citations
Multirotor unmanned aerial vehicles (UAVs) form a specific class of aircraft in which lift is generated directly by rotor thrust rather than by fixed wings. This principle enables vertical take-off and landing, hovering and precise low-speed positioning, but it also increases energy demand and makes the flight dynamics...
D. Živanić, Vladimir Žerajić, Nikola Ilanković· Conference proceedings· 0 citations
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