3. AutonomousSystemsLab
ZürichName - Short Title3
AIRobots Coaxial Rotor System
Coaxial Rotor Configuration
Single BLDC-Motor
Collective/Cyclic Pitch Mixing
Swashplate
Bell-Hiller Flybar
Composite Airframe
High/Low-Level Pocessing & Sensing Units
4. AutonomousSystemsLab
ZürichName - Short Title
Understanding the Flight System
Specific Free-Flight Dynamics
Rotor Flapping Dynamics
Inflow Dynamics
Bell-Hiller Flybar
Derive Physically Consistant Flight Model
Aerodynamics
Structural Dynamics
5. AutonomousSystemsLab
Zürich
Understanding the Flight System
First-Principles Modeling
Support Mechanical Design Process
Initialize and Constrain System ID
System ID
Match Vehicle Flight Data
System Identification under Constraints
Prediction using Physical Parameters
6. AutonomousSystemsLab
Zürich
Resonance Excitation – Model Fidelity and Compensation
Resonance Compensation Activation
• Implementation of a Notch Filter at
its frequency.
• Adjust the controller gains based on
rate of rotation
φ, θ references
p, q experimental responses
p, q identified model predictions
7. ZürichAutonomous Systems Lab
Hybrid Model:
Free-Flight Dynamics
Dynamics during Contact
Collision dynamics
Hybrid Model
Ensure global stability of
the system – Perform Wall
Inspection Maneuvers
Receding Horizon Control
Coupled Gain
Scheduled Loops
with Resonance
Compensation
Attitude Control
[Position, Orientation]
[Force]
Hybrid Modeling & Control
Hybrid Model of the global Free Flying – Contact
dynamics account for collisions
Hybrid Receding Horizon Control Strategy to
ensure global stability
Unified controller for free-flight trajectory control
and Wall Inspection Maneuvers (i.e.
Docking/Sliding)
