NDLI: Development of a Rotorcraft Micro air Vehicle for Indoor Flight Research

Content Provider	Springer Nature Link
Author	Fu, Li Wang, Lingling Yang, Xi
Copyright Year	2015
Abstract	Autonomous flight of micro air vehicles (MAVs) in hostile indoor environments poses significant challenges in terms of control and navigation. In order to support navigation and control research for indoor micro air vehicles, a four-wing tail-sitter type rotorcraft MAV weighing less than 350g has been designed in this paper. In an effort to achieve autonomous indoor flight, an embedded integrated avionic system has been developed. The modeling process has been conducted to obtain accurate six degrees of freedom dynamical model for the designed rotorcraft MAV. In addition, aerodynamic coefficients are evaluated from the results of Computational Fluid Dynamics A PI-ADRC double loop controller with inner-loop outer-loop control scheme has been proposed which takes into account the system’s nonlinearities and uncertainties. The proposed flight controller was implemented on the designed rotorcraft MAV that has undergone various simulation and indoor flight tests. Experimental results that demonstrate robustness of the proposed controller with respect to external disturbances and the capabilities of the designed rotorcraft MAV are presented.
Starting Page	423
Ending Page	441
Page Count	19
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	81
Issue Number	3-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2015-03-04
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Autonomous rotorcraft MAV Dynamic model Nonlinear control Computational Fluid Dynamics Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in