TY - GEN
T1 - Large object pushing via a direct longitudinally-actuated unmanned Tri-TiltRotor
AU - Papachristos, Christos
AU - Tzes, Anthony
PY - 2013
Y1 - 2013
N2 - The original application of large object pushing with an Unmanned Aerial Vehicle platform is the subject of this paper. The utilization of an unmanned Tri-TiltRotor is proposed for this application, innovatively employing its direct longitudinal actuation capabilities to attain a large force exertion-capable aerial platform. Via the longitudinal tilting of the aerial vehicle's main rotors, the forward-projected force can be applied via a platform-mounted frame onto a large object, and bring it into motion. Concurrently, moment-compensation, achieved by a properly designed control synthesis exploiting the additional actuation capabilities of the platform, effectively regulates the attitude at stable hovering. Experimental results are provided, demonstrating the effectiveness of the implemented approach.
AB - The original application of large object pushing with an Unmanned Aerial Vehicle platform is the subject of this paper. The utilization of an unmanned Tri-TiltRotor is proposed for this application, innovatively employing its direct longitudinal actuation capabilities to attain a large force exertion-capable aerial platform. Via the longitudinal tilting of the aerial vehicle's main rotors, the forward-projected force can be applied via a platform-mounted frame onto a large object, and bring it into motion. Concurrently, moment-compensation, achieved by a properly designed control synthesis exploiting the additional actuation capabilities of the platform, effectively regulates the attitude at stable hovering. Experimental results are provided, demonstrating the effectiveness of the implemented approach.
UR - http://www.scopus.com/inward/record.url?scp=84885233485&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885233485&partnerID=8YFLogxK
U2 - 10.1109/MED.2013.6608717
DO - 10.1109/MED.2013.6608717
M3 - Conference contribution
AN - SCOPUS:84885233485
SN - 9781479909971
T3 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
SP - 173
EP - 178
BT - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
T2 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013
Y2 - 25 June 2013 through 28 June 2013
ER -