Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
Tong Hui,Antonello Paolino,Gabriele Nava,Giuseppe L'Erario,Fabio Di Natale,Fabio Bergonti,Francesco Braghin,Daniele Pucci,Tong Hui,Antonello Paolino,Gabriele Nava,Giuseppe L'Erario,Fabio Di Natale,Fabio Bergonti,Francesco Braghin,Daniele Pucci
This paper presents a modeling and control frame-work for multibody flying robots subject to non-negligible aero-dynamic forces acting on the centroidal dynamics. First, aero-dynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the data...
