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《Acta Aeronautica Et Astronautica Sinica》 2010-10
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A Multi-propeller and Multi-function Aero-robot and Its Motion Planning of Leg-wall-climbing

Ding Xilun,Yu Yushu(Robotics Institute,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)  
A multi-propeller and multi-function aero-robot which can realize both functions of flight and wall-climbing is presented in this article.The construction of this novel robot is designed.The working principle of the robot’s multi-function including wall-climbing and flight is analyzed,especially the principle of attitude control with multi-propeller.The dynamics and kinematics model of the robot when it is in wall-climbing mode is researched.Based on the model,the motion planning of the robot in wall-climbing mode is studied by considering the principle of attitude control with multi-propeller.The stabilization controller of the robot when it is in wall-climbing mode is designed by using trajectory linearization control (TLC) method.The simulation research of the robot in leg-wall-climbing mode is finished in the environment of MATLAB software.Through simulation,the feasibility of the designed motion planning and the stabilization control algorithm of the robot are verified.
【Fund】: 国家自然科学基金(50975008)
【CateGory Index】: V249.1
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【Citations】
Chinese Journal Full-text Database 1 Hits
1 WANG Junsheng,MA Hongxu,CAI Wenlan,SHUI Haitao,NIE Bowen (School of Mechatronic Engineering & Automation,National University of Defense Technology,Changsha 410073,China);Research on Micro Quadrotor Control Based on ADRC[J];Journal of Projectiles,Rockets,Missiles and Guidance;2008-03
【Co-citations】
Chinese Journal Full-text Database 1 Hits
1 LIU Zhi-jun,LV Qiang,WANG Dong -lai (Department of Control Engineering,Academy of Armored Force Engineering,Beijing 100072,China);Modeling And Simulation Control Of a Small-sized Quadrotor Helicopter[J];Computer Simulation;2010-07
【Secondary Citations】
Chinese Journal Full-text Database 2 Hits
1 HAN Jing qing (Institute of Systems Science, AMSS, CAS, Beijing 100080, China);From PID Technique to Active Disturbances Rejection Control Technique[J];Basic Automation;2002-03
2 Han Jingqing(Institute of Systems Science, Academia Sinica);Auto-disturbances-rejection Controller and Its Applications[J];Control and Decision;1998-01
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