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 novel coaxial drone supplemented by a two-degreesof-freedom pendulum mechanism for active thrust vectoring that offers a less mechanically complicated alternative. We develop a comprehensive Lagrangian dynamic model that does not ignore the inertial contributions of all the components, including body, servo arms, and motor assembly. A Linear Quadratic Regulator(LQR) is designed based on the linearized dynamics around the hover equilibrium. High-fidelity simulations taking actuator dynamics and sensor noise into account validate the proposed architecture. An Extended Kalman Filter (EKF) blends GPS, barometer, and IMU estimates with high accuracy for state estimation. The findings verify the potential and reliability of this approach for power-saving, rapid coaxial UAVs.
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 Lagr...
This paper addresses disturbance-induced oscillations in high-precision pendulum-based inclinometers, which reduce measurement availability despite the long-term stability of gravity-referenced sensing. To actively suppress these oscillations, a contactless six-coil electromagnetic actuation system is developed, togeth...
F. Capes, M. Bianchi, Roberto Gardenghi et al.· 0 citations
Cable-driven manipulators have garnered increasing attention in robotics owing to their lightweight structure, flexible transmission mechanisms, and large operational workspace. However, the strong nonlinear dynamics, parameter coupling, and external disturbances inherent in cable-driven systems pose significant challe...
Jian-Hao Chai, Wei-Cai Quan, Xuan-Ming Tang et al.· Proceedings of the Instituti...· 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
This paper presents the development of a multi-domain simulation for the Porsche Taycan’s all-wheel-drive (AWD) electric propulsion system to investigate the impact of the rear drive unit’s two-speed transmission on performance and drive quality during maximum acceleration. This study was undertaken independent of the...
D. Robinette, Peter Pollock, Dillon Babcock et al.· World Electric Vehicle Journ...· 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
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