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Aeroelastics-aware compensation system for soft aerial vehicle stabilization

This paper describes a compensation system for soft aerial vehicle stabilization. Balancing the arms is one of the main challenges of soft UAVs since the propeller is freely tilting together with the flexible arm. In comparison with previous designs, in which the autopilot was adjusted to deal with...

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Detalles Bibliográficos
Autores principales: Ruiz, Fernando, Arrue, Begoña C., Ollero, Aníbal
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9682085/
https://www.ncbi.nlm.nih.gov/pubmed/36437885
http://dx.doi.org/10.3389/frobt.2022.1005620
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author Ruiz, Fernando
Arrue, Begoña C.
Ollero, Aníbal
author_facet Ruiz, Fernando
Arrue, Begoña C.
Ollero, Aníbal
author_sort Ruiz, Fernando
collection PubMed
description This paper describes a compensation system for soft aerial vehicle stabilization. Balancing the arms is one of the main challenges of soft UAVs since the propeller is freely tilting together with the flexible arm. In comparison with previous designs, in which the autopilot was adjusted to deal with these imbalances with no extra actuation, this work introduces a soft tendon-actuated system to achieve in-flight stabilization in an energy-efficient way. The controller is specifically designed for disturbance rejection of aeroelastic perturbations using the Ziegler-Nichols method, depending on the flight mode and material properties. This aerodynamics-aware compensation system allows to further bridge the gap between soft and aerial robotics, leading to an increase in the flexibility of the UAV, and the ability to deal with changes in material properties, increasing the useful life of the drone. In energetic terms, the novel system is 15–30% more efficient, and is the basis for future applications such as object grasping.
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spelling pubmed-96820852022-11-24 Aeroelastics-aware compensation system for soft aerial vehicle stabilization Ruiz, Fernando Arrue, Begoña C. Ollero, Aníbal Front Robot AI Robotics and AI This paper describes a compensation system for soft aerial vehicle stabilization. Balancing the arms is one of the main challenges of soft UAVs since the propeller is freely tilting together with the flexible arm. In comparison with previous designs, in which the autopilot was adjusted to deal with these imbalances with no extra actuation, this work introduces a soft tendon-actuated system to achieve in-flight stabilization in an energy-efficient way. The controller is specifically designed for disturbance rejection of aeroelastic perturbations using the Ziegler-Nichols method, depending on the flight mode and material properties. This aerodynamics-aware compensation system allows to further bridge the gap between soft and aerial robotics, leading to an increase in the flexibility of the UAV, and the ability to deal with changes in material properties, increasing the useful life of the drone. In energetic terms, the novel system is 15–30% more efficient, and is the basis for future applications such as object grasping. Frontiers Media S.A. 2022-11-09 /pmc/articles/PMC9682085/ /pubmed/36437885 http://dx.doi.org/10.3389/frobt.2022.1005620 Text en Copyright © 2022 Ruiz, Arrue and Ollero. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Ruiz, Fernando
Arrue, Begoña C.
Ollero, Aníbal
Aeroelastics-aware compensation system for soft aerial vehicle stabilization
title Aeroelastics-aware compensation system for soft aerial vehicle stabilization
title_full Aeroelastics-aware compensation system for soft aerial vehicle stabilization
title_fullStr Aeroelastics-aware compensation system for soft aerial vehicle stabilization
title_full_unstemmed Aeroelastics-aware compensation system for soft aerial vehicle stabilization
title_short Aeroelastics-aware compensation system for soft aerial vehicle stabilization
title_sort aeroelastics-aware compensation system for soft aerial vehicle stabilization
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9682085/
https://www.ncbi.nlm.nih.gov/pubmed/36437885
http://dx.doi.org/10.3389/frobt.2022.1005620
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