NDLI: Passive stability of a single actuator micro aerial vehicle

Content Provider	IEEE Xplore Digital Library
Author	Piccoli, M. Yim, M.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA (Yim, M.) \|\| Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA (Piccoli, M.)
Abstract	In this work, we present a low-cost, flying research MAV, comparable to common quadcopter platforms. We propose a flyer with only two moving parts (a rotor and a stator) and a single actuator that is capable of hovering flight without active attitude control. The passive stability is analyzed and reduced to two mechanisms that are a function of the relative offset of the center of pressure and center of mass, the angular momentum of rotor and stator and the differential lift of the spinning elements. The design space over these parameters is explored with a dozen models that are unstable and one that is stable. Interestingly, the two stability mechanisms are not compatible requiring opposing design emphasis. Passive stability of this model is verified by Routh Hurwitz criterion, in simulation and a physical prototype. The vehicle has the added benefits of low complexity and favorable size scaling compared to other MAVs. The vehicle design guidelines derived from both theory and experimentation are presented.
Starting Page	5510
Ending Page	5515
File Size	999429
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907669
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Propellers Stability analysis Rotors Equations Stators Mathematical model
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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