Design and development of a novel spherical UAV

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dc.contributor.authorMalandrakis, Konstantinos
dc.contributor.authorDixon, Roland
dc.contributor.authorSavvaris, Al
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2017-01-03T09:24:17Z
dc.date.available2017-01-03T09:24:17Z
dc.date.issued2016-10-03
dc.description.abstractThis paper presents the design and system integration of a novel coaxial, flap actuated, spherical UAV for operations in complex environments, such as buildings, caves or tunnels. The spherical design protects the inner components of the vehicle and allows the UAV to roll along the floor if the environment permits. Furthermore, the UAV can land and takeoff from any orientation and come into contact with objects without putting the propellers at risk. Flaps at the base of the sphere will generate roll and pitch moments as opposed to conventional swash plate designs while the coaxial setup will provide the necessary yaw moments and increase in thrust to volume ratio of the system. The flaps, placed below the propellers allow for decoupled roll and pitch control in a thrust vectoring manner. The final result of this design is a well-protected, compact, easily controlled, flexible and agile UAV for operations in complex environments. The spherical UAV was successfully flight tested on a number of occasions with various PD and µ-synthesis robust control systems and was observed to be easily stabilised and resistant to external disturbances to certain extent.en_UK
dc.identifier.citationMalandrakis K, Dixon R, Savvaris A, Tsourdos A. (2016) Design and development of a novel spherical UAV. IFAC-PapersOnLine Volume 49, Issue 17, 2016, pp. 320–325en_UK
dc.identifier.issn1474-6670
dc.identifier.urihttp://dx.doi.org/10.1016/j.ifacol.2016.09.055
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/11192
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectComplex environmentsen_UK
dc.subjectspherical frameen_UK
dc.subjectrobust controlen_UK
dc.subjectµ-synthesisen_UK
dc.subjectcontra rotating propellersen_UK
dc.subjectultra-sonic sensoren_UK
dc.subjecttest benchen_UK
dc.subjectcoaxial rotoren_UK
dc.titleDesign and development of a novel spherical UAVen_UK
dc.typeConference paperen_UK

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