In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of fu...In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking capabilities.In this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is presented.Quadcopter with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force vectoring.The tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter states.Extensive mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler method.Furthermore,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and stability.The controlled system is simulated to assure the validity of the proposed controller and the quadcopter design.The controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model uncertainties.Moreover,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully followed.The test results show the supremacy of the overactuated quadcopter over the traditional one.展开更多
In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition ...In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition for the quadruped walking machine is proposed. With analyzing the accustomed gaits of quadruped, some standard gaits and the relationships between duty factor and the phasic differences of the legs corresponding to the first leg could be concluded. With this, the gaits transferring could be continuous. Besides, celerity and on line method for generation and modifying gaits is studied, which can make the robot have a smooth motion to adapt the uncharted rough terrain.展开更多
The steady, laminar, incompressible and two dimensional micropolar flow between two porous disks was investigated using optimal homotopy asymptotic method(OHAM) and fourth order Runge–Kutta numerical method. Comparis...The steady, laminar, incompressible and two dimensional micropolar flow between two porous disks was investigated using optimal homotopy asymptotic method(OHAM) and fourth order Runge–Kutta numerical method. Comparison between OHAM and numerical method shows that OHAM is an exact and high efficient method for solving these kinds of problems. The results are presented to study the velocity and rotation profiles for different physical parameters such as Reynolds number, vortex viscosity parameter, spin gradient viscosity and microinertia density parameter. As an important outcome, the magnitude of the microrotation increases with an increase in the values of injection velocity while it decreases by increasing the values of suction velocity.展开更多
文摘In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking capabilities.In this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is presented.Quadcopter with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force vectoring.The tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter states.Extensive mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler method.Furthermore,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and stability.The controlled system is simulated to assure the validity of the proposed controller and the quadcopter design.The controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model uncertainties.Moreover,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully followed.The test results show the supremacy of the overactuated quadcopter over the traditional one.
基金Supported by the china postdoctoral Science Foundation （No. 20080430362）.
文摘In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition for the quadruped walking machine is proposed. With analyzing the accustomed gaits of quadruped, some standard gaits and the relationships between duty factor and the phasic differences of the legs corresponding to the first leg could be concluded. With this, the gaits transferring could be continuous. Besides, celerity and on line method for generation and modifying gaits is studied, which can make the robot have a smooth motion to adapt the uncharted rough terrain.
文摘The steady, laminar, incompressible and two dimensional micropolar flow between two porous disks was investigated using optimal homotopy asymptotic method(OHAM) and fourth order Runge–Kutta numerical method. Comparison between OHAM and numerical method shows that OHAM is an exact and high efficient method for solving these kinds of problems. The results are presented to study the velocity and rotation profiles for different physical parameters such as Reynolds number, vortex viscosity parameter, spin gradient viscosity and microinertia density parameter. As an important outcome, the magnitude of the microrotation increases with an increase in the values of injection velocity while it decreases by increasing the values of suction velocity.
