Infrastructure systems strongly influence contemporary society and increasingly our quality of life depends on it, but unfortunately these infrastructures are ageing and failures are becoming common. Automate maintenance procedures can be a real solution to cope with these problems but several limits have to be overcome yet. In this work, these limits are faced by proposing an alternative UAV that would bring advantages in safe inspection tasks and human-interaction, named Double Propeller Ducted-Fan. An alternative UAV’s architecture jointly with a dynamic model and a simplified linear control scheme is here proposed, by taking into account the requirements demand to further commercial development. The validity of the model and the proposed control scheme are evaluated in simulations, also taking into account real disturbances and noise from sensors. The results are encouraging in term of performances, compared with tests carried out with linear controllers in similar UAVs.
The Double Propeller Ducted-Fan, an UAV for safe Infrastructure inspection and human-interaction / Bonci, Andrea; Cervellieri, Alice; Longhi, Sauro; Nabissi, Giacomo; Scala, GIUSEPPE ANTONIO. - ELETTRONICO. - (2020), pp. 727-733. (Intervento presentato al convegno 25th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2020 tenutosi a Vienna, Austria nel 8–11 September 2020) [10.1109/ETFA46521.2020.9212035].
The Double Propeller Ducted-Fan, an UAV for safe Infrastructure inspection and human-interaction
Andrea Bonci
Membro del Collaboration Group
;Alice CervellieriMembro del Collaboration Group
;Sauro LonghiMembro del Collaboration Group
;Giacomo NabissiMembro del Collaboration Group
;Giuseppe Antonio ScalaMembro del Collaboration Group
2020-01-01
Abstract
Infrastructure systems strongly influence contemporary society and increasingly our quality of life depends on it, but unfortunately these infrastructures are ageing and failures are becoming common. Automate maintenance procedures can be a real solution to cope with these problems but several limits have to be overcome yet. In this work, these limits are faced by proposing an alternative UAV that would bring advantages in safe inspection tasks and human-interaction, named Double Propeller Ducted-Fan. An alternative UAV’s architecture jointly with a dynamic model and a simplified linear control scheme is here proposed, by taking into account the requirements demand to further commercial development. The validity of the model and the proposed control scheme are evaluated in simulations, also taking into account real disturbances and noise from sensors. The results are encouraging in term of performances, compared with tests carried out with linear controllers in similar UAVs.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
