Control and Control Allocation for Bimodal, Rotary Wing, Rolling-Flying Vehicles
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 13(5).
author keywords: control allocation; mobile robotics; multirotor vehicles; nonlinear control systems; dynamics; flying robots; mobile robots; theoretical kinematics
TL;DR:
A robust method for controlling the terrestrial motion of a bimodal multirotor vehicle that can roll and fly and that correctly determines a thrust-minimizing solution in real-time is presented.
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