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EnglishInfrastructure 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.
| Autori: | |
| Autori: | Bonci, Andrea; Cervellieri, Alice; Longhi, Sauro; Nabissi, Giacomo; Scala, Giuseppe Antonio |
| Titolo: | The Double Propeller Ducted-Fan, an UAV for safe Infrastructure inspection and human-interaction |
| Presenza coautori internazionali: | no |
| Numero degli autori: | 5 |
| Data di pubblicazione: | 2020 |
| Codice identificativo Scopus: | 2-s2.0-85093357526 |
| Revisione (peer review): | Esperti anonimi |
| Lingua: | Inglese |
| Rilevanza: | Internazionale |
| Supporto: | ELETTRONICO |
| Pagina iniziale: | 727 |
| Pagina finale: | 733 |
| Numero di pagine: | 7 |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/ETFA46521.2020.9212035 |
| 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. |
| Parole Chiave: | Autonomous Vehicles, Motion control, Double Propeller Ducted-Fan, UAV Modelling, Human-interaction, Linear control. |
| URL: | https://ieeexplore.ieee.org/document/9212035 |
| Data di presentazione: | 2020-10-25T18:20:23Z |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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