Aug 2026· Journal of Aircraft· pp. 1-12· 0 citations· 22 references
Abstract
This work presents an approach for modeling medium-size flapping-wing micro aerial vehicles carrying heavy payloads, using a cosimulation of ADAMS and MATLAB
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/Simulink, which the authors validated using flight-test data. The drone used for their investigations is the Nimble+ produced by Flapper Drones. It carries a gripper, which can be used for perching in order to save battery consumption during longer missions, or to carry objects. The additional component increases the overall weight by approximately 50% and leads to instability in the control. To examine how the gripper influences the system dynamics, the system is simulated in its clean, gripperless configuration as well as with the gripper attached, and the system dynamics are extracted using linear least-squares fitting. These results are then used to tune an existing baseline Proportional-Integral-Derivative (PID) controller and to develop a Modified Linear Extended State Observer as a new model-based control approach.
Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadruped locomotion to water enables amphibious mobility with applications in inspection, environmental monitoring and disaster response. This paper presents the design, modeling, and experimental validation of a r...
It is noted that in agriculture, fixed-wing unmanned aircraft systems successfully perform the tasks of crop monitoring, pest and disease detection across large areas remote from the operator. Further improvements in unmanned aircraft speed, flight range, and payload capacity can be achieved by reducing aerodynamic dra...
P. A. Averichkin, D. Gritsay, P. I. Chumak· Agricultural Machinery and T...· 0 citations
An adaptive hybrid control method combining relay (Bang-Bang) speed control at large suspension deflection angles and optimal linear-quadratic regulation (LQR) at small angles is synthesized and provides effective oscillation damping and dynamic cohesion, making it suitable for urban logistics, port infrastructure oper...
D. Kucherov, Maryna S. Graf· Electronics and Control Syst...· 0 citations
The motion of ships and aircraft is governed by inertia and hydrodynamic or aerodynamic forces, so they do not stop immediately even when reverse thrust is applied. Consequently, operations such as maneuvering in harbors and landing require control that can decelerate and stop accurately near a target position, yet ful...
Tetsuhiro Miyazaki, Hideki Toda· Smart Systems and Devices· 0 citations
This paper presents the design and control strategy for MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV), capable of both spinning-wing hover and fixed flying-wing cruise flight. Since control of the cruise configuration is comparatively well established in the literature, this paper focuses on control of the M...
This paper presents a proprioception-based rolling control framework for wheeled-quadruped robots. The proposed framework serves as a reactive control approach for adaptive terrain traversal and body stabilization, without explicit motion planning. For wheeled-quadruped robots, adding wheels significantly increases t...
Shi-Chao Zhou, Zhong-Qu Xie, Ling-Kun Chen et al.· Proceedings of the Instituti...· 0 citations
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