Browsing by Author "Batti, Mohamed Ismail"
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Item CLOSED-LOOP DYNAMICS OF A CLASS OF HYBRID (MULTI-MODAL) FLYING ROBOTS(2022-01-20) Batti, Mohamed Ismail; Arıkan, Kutluk Bilge; Alemdaroğlu, Hüseyin NafizIn this study, a class of hybrid flying robots is proposed in terms of the basic and advanced systems. Nonlinear and linearized mathematical models are derived for both of the systems in two-dimensional space. Linear quadratic regulator-based control systems are designed for the hovering and navigation scenarios. In addition, external forces are applied during the vertical takeoff, forward flight, and the land down. The differences between the linear and nonlinear responses are evaluated in addition to the differences between behaviors of the basic and advanced systems. It is shown that the admittance controller improves the stability of the basic system as the compelling external forces are applied. It is shown that both of the systems are suitable to be used as ground-air hybrid robotic platforms and aerial manipulators.