{"title":"Modeling and analysis of a reduced-complexity ducted MAV","authors":"L. Marconi, R. Naldi, A. Sala","doi":"10.1109/MED.2006.328770","DOIUrl":null,"url":null,"abstract":"In this paper we present preliminary results about the development of a ducted-fan micro aerial vehicle (MAV), of reduced mechanical complexity, capable of stationary flight. Force and torque generation mechanisms are investigated and a nonlinear model for control purpose is derived. A preliminary study of the zero dynamics of the model is derived and its asymptotic properties are investigated in relation to the values of some physical parameters. Finally a simple linear optimal control is designed on the linear approximation of the model","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 14th Mediterranean Conference on Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2006.328770","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 7
Abstract
In this paper we present preliminary results about the development of a ducted-fan micro aerial vehicle (MAV), of reduced mechanical complexity, capable of stationary flight. Force and torque generation mechanisms are investigated and a nonlinear model for control purpose is derived. A preliminary study of the zero dynamics of the model is derived and its asymptotic properties are investigated in relation to the values of some physical parameters. Finally a simple linear optimal control is designed on the linear approximation of the model
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