dc.creator | Ruiz Vincueria, Fernando | es |
dc.creator | Arrue Ullés, Begoña C. | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2023-06-09T14:45:38Z | |
dc.date.available | 2023-06-09T14:45:38Z | |
dc.date.issued | 2022-11 | |
dc.identifier.citation | Ruiz Vincueria, F., Arrue Ullés, B.C. y Ollero Baturone, A. (2022). Aeroelastics-aware compensation system for soft aerial vehicle stabilization. Frontiers in Robotics and AI, 9, 1005620. https://doi.org/10.3389/frobt.2022.1005620. | |
dc.identifier.issn | 2296-9144 | es |
dc.identifier.uri | https://hdl.handle.net/11441/147045 | |
dc.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. | es |
dc.description.abstract | 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. | es |
dc.format | application/pdf | es |
dc.format.extent | 13 p. | es |
dc.language.iso | eng | es |
dc.publisher | Frontiers | es |
dc.relation.ispartof | Frontiers in Robotics and AI, 9, 1005620. | |
dc.rights | Atribución 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | Soft robotics | es |
dc.subject | UAVs | es |
dc.subject | Soft actuation | es |
dc.subject | Aerodynamics | es |
dc.subject | Multirotor dynamics | es |
dc.title | Aeroelastics-aware compensation system for soft aerial vehicle stabilization | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | 101070604 | es |
dc.relation.publisherversion | https://www.frontiersin.org/articles/10.3389/frobt.2022.1005620/full | es |
dc.identifier.doi | 10.3389/frobt.2022.1005620 | es |
dc.contributor.group | Universidad de Sevilla.TEP151: Robótica, Visión y Control | es |
dc.journaltitle | Frontiers in Robotics and AI | es |
dc.publication.volumen | 9 | es |
dc.publication.initialPage | 1005620 | es |
dc.contributor.funder | Horizonte Europa | es |