Aeroelastics-aware compensation system for soft aerial vehicle stabilization

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 journa...

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Authors: Ruiz Vincueria, Fernando, Arrue Ullés, Begoña C., Ollero Baturone, Aníbal
Format: article
Status:Published version
Publication Date:2022
Country:España
Institution:Universidad de Sevilla (US)
Repository:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/147045
Online Access:https://hdl.handle.net/11441/147045
https://doi.org/10.3389/frobt.2022.1005620
Access Level:Open access
Keyword:Soft robotics
UAVs
Soft actuation
Aerodynamics
Multirotor dynamics
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spelling Aeroelastics-aware compensation system for soft aerial vehicle stabilizationRuiz Vincueria, FernandoArrue Ullés, Begoña C.Ollero Baturone, AníbalSoft roboticsUAVsSoft actuationAerodynamicsMultirotor dynamicsThis 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.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.FrontiersIngeniería de Sistemas y AutomáticaTEP151: Robótica, Visión y ControlHorizonte Europa2022info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/147045https://doi.org/10.3389/frobt.2022.1005620reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésFrontiers in Robotics and AI, 9, 1005620.101070604https://www.frontiersin.org/articles/10.3389/frobt.2022.1005620/fullinfo:eu-repo/semantics/openAccessoai:idus.us.es:11441/1470452026-06-17T12:51:07Z
dc.title.none.fl_str_mv Aeroelastics-aware compensation system for soft aerial vehicle stabilization
title Aeroelastics-aware compensation system for soft aerial vehicle stabilization
spellingShingle Aeroelastics-aware compensation system for soft aerial vehicle stabilization
Ruiz Vincueria, Fernando
Soft robotics
UAVs
Soft actuation
Aerodynamics
Multirotor dynamics
title_short 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_sort Aeroelastics-aware compensation system for soft aerial vehicle stabilization
dc.creator.none.fl_str_mv Ruiz Vincueria, Fernando
Arrue Ullés, Begoña C.
Ollero Baturone, Aníbal
author Ruiz Vincueria, Fernando
author_facet Ruiz Vincueria, Fernando
Arrue Ullés, Begoña C.
Ollero Baturone, Aníbal
author_role author
author2 Arrue Ullés, Begoña C.
Ollero Baturone, Aníbal
author2_role author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robótica, Visión y Control
Horizonte Europa
dc.subject.none.fl_str_mv Soft robotics
UAVs
Soft actuation
Aerodynamics
Multirotor dynamics
topic Soft robotics
UAVs
Soft actuation
Aerodynamics
Multirotor dynamics
description 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.
publishDate 2022
dc.date.none.fl_str_mv 2022
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/147045
https://doi.org/10.3389/frobt.2022.1005620
url https://hdl.handle.net/11441/147045
https://doi.org/10.3389/frobt.2022.1005620
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Frontiers in Robotics and AI, 9, 1005620.
101070604
https://www.frontiersin.org/articles/10.3389/frobt.2022.1005620/full
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Frontiers
publisher.none.fl_str_mv Frontiers
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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