A Comparative Framework for Maneuverability and Gust Tolerance of Aerial Microsystems

dc.contributor.advisorHumbert, James Sen_US
dc.contributor.authorCampbell, Reneeen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.description.abstractAerial microsystems have the potential of navigating low-altitude, cluttered environments such as urban corridors and building interiors. Reliable systems require both agility and tolerance to gusts. While many platform designs are under development, no framework currently exists to quantitatively assess these inherent bare airframe characteristics which are independent of closed loop controllers. This research develops a method to quantify the maneuverability and gust tolerance of vehicles using reachability and disturbance sensitivity sets. The method is applied to a stable flybar helicopter and an unstable flybarless helicopter, whose state space models were formed through system identification. Model-based static H-infinity controllers were also implemented on the vehicles and tested in the lab using fan-generated gusts. It is shown that the flybar restricts the bare airframe's ability to maneuver in translational velocity directions. As such, the flybarless helicopter proved more maneuverable and gust tolerant than the flybar helicopter. This approach was specifically applied here to compare stable and unstable helicopter platforms; however, the framework may be used to assess a broad range of aerial microsystems.en_US
dc.subject.pqcontrolledAerospace engineeringen_US
dc.subject.pquncontrolledControllability Gramianen_US
dc.subject.pquncontrolledDisturbance Rejectionen_US
dc.subject.pquncontrolledGust Toleranceen_US
dc.subject.pquncontrolledMicro Air Vehiclesen_US
dc.subject.pquncontrolledSystem Identificationen_US
dc.titleA Comparative Framework for Maneuverability and Gust Tolerance of Aerial Microsystemsen_US


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