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
Abstract
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 dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies: compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.
BibTeX
@inproceedings{icra2022_centroidalaerody,
title = {Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots},
author = {Tong Hui and Antonello Paolino and Gabriele Nava and Giuseppe L'Erario and Fabio Di Natale and Fabio Bergonti and Francesco Braghin and Daniele Pucci},
booktitle = {ICRA 2022},
year = {2022}
}