Large object pushing via a direct longitudinally-actuated unmanned Tri-TiltRotor

Christos Papachristos, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
Pages173-178
Number of pages6
DOIs
StatePublished - Oct 15 2013
Event2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Platanias-Chania, Crete, Greece
Duration: Jun 25 2013Jun 28 2013

Other

Other2013 21st Mediterranean Conference on Control and Automation, MED 2013
CountryGreece
CityPlatanias-Chania, Crete
Period6/25/136/28/13

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Antennas
Unmanned aerial vehicles (UAV)
Rotors
Compensation and Redress

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Papachristos, C., & Tzes, A. (2013). Large object pushing via a direct longitudinally-actuated unmanned Tri-TiltRotor. In 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings (pp. 173-178). [6608717] https://doi.org/10.1109/MED.2013.6608717

Large object pushing via a direct longitudinally-actuated unmanned Tri-TiltRotor. / Papachristos, Christos; Tzes, Antonios.

2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings. 2013. p. 173-178 6608717.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Papachristos, C & Tzes, A 2013, Large object pushing via a direct longitudinally-actuated unmanned Tri-TiltRotor. in 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings., 6608717, pp. 173-178, 2013 21st Mediterranean Conference on Control and Automation, MED 2013, Platanias-Chania, Crete, Greece, 6/25/13. https://doi.org/10.1109/MED.2013.6608717
Papachristos C, Tzes A. Large object pushing via a direct longitudinally-actuated unmanned Tri-TiltRotor. In 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings. 2013. p. 173-178. 6608717 https://doi.org/10.1109/MED.2013.6608717
Papachristos, Christos ; Tzes, Antonios. / Large object pushing via a direct longitudinally-actuated unmanned Tri-TiltRotor. 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings. 2013. pp. 173-178
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