notesum.ai

Published at December 9

Modeling, Planning, and Control for Hybrid UAV Transition Maneuvers

cs.RO

cs.SY

eess.SY

Released Date: December 9, 2024

Authors: Spencer Folk¹

Aff.: ¹Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania

Arxiv: http://arxiv.org/pdf/2412.06197v1

Refer to caption

Parameter	Value	Units
Physical Parameters
Mass ( $m$ )	0.8652	kg
Inertia ( $I_{yy})$	9.77E-03	kg-m²
Arm Length ( $l$ )	0.244	m
Wing Chord ( $\bar{c}$ )	0.087	m
Wing Span ( $b$ )	1.016	m
Rotor Diameter ( $2R$ )	0.229	m
Min Thrust ( $T_{min}$ )	0	N
Max Thrust - 2 Motors ( $T_{max}$ )	5.886	N
Thrust-Weight Ratio ( $TW$ )	1.387	-
Controller Gains
Proportional - Position ( $K_{p}$ )	diag(11.6,17.4)	m^-1
Derivative - Position ( $K_{d}$ )	diag(6.82,6.82)	s-m^-1
Proportional - Attitude ( $K_{R}$ )	74.73	rad^-1
Derivative - Attitude ( $K_{\omega}$ )	17.29	s-rad^-1