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arXiv 2025年

作者： Gabellieri, Chiara teeuwen, lars Shen, Yaolei Franchi, Antonio Faculty University of Twente Enschede7500 AE Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outputs are found for the systems. Numerical simulations support the findings by showing cable manipulation relying on flatness-based trajectories. Eventually, we present an experimental validation of the effectiveness of the proposed discretized cable model for a two-robot example. Moreover, a closed-loop controller based on the identified model and using cable-output feedback is experimentally tested. © 2025, CC BY.

关键词： Closed loop control systems

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Gust load alleviation of an unmanned aerial vehicle wing using variable camber

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JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES 2014年第7期25卷 795-805页

作者： Bernhammer, lars O. teeuwen, Sjors P. W. De Breuker, Roeland van der Veen, Gijs J. van Solingen, Edwin Delft Univ Technol Fac Aerosp Engn NL-2629 HS Delft Netherlands Delft Univ Technol Fac Mech Engn Delft Ctr Syst & Control NL-2629 HS Delft Netherlands

It is vital for an unmanned aerial vehicle to meet contradictory mission requirements originating from different tasks this type of aircraft has to fulfill. The ability to switch between configurations greatly expands the range of possible missions. An unmanned aerial vehicle wing has been developed to demonstrate the capacity to optimize the aerodynamic and structural performances according to the mission stage. The wing is equipped with four macro fiber composite benders that can be controlled individually, and each of these macro fiber composite benders actuates a section of the wing. A numerical study was conducted with XFLR5 to determine the optimal configurations of the flap positions for both range and endurance. A wind tunnel study was performed to verify these results. During the experiment, a maximum attainable increase in lift coefficient of 0.072 could be achieved, while numerically the increase was computed to be 0.079. The wide-frequency bandwidth of the actuators allows using the developed system also for other purposes such as load alleviation. Unmanned aerial vehicles are often light and fly at low airspeeds, which make them very sensitive to gust excitation. For this purpose, the experimental model was equipped with two accelerometers to measure the amplitude of the first two deformation modes. Significant load alleviation capacities with reductions up to 50% in load amplitude could be achieved. This reduction was achieved, even though the wing box contributes largely to the structural damping, as the foam for the construction absorbs a significant proportion of the vibrations.

关键词： Macro fiber composite actuators performance optimization load alleviation variable camber unmanned aerial vehicle

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Performance optimization and gust load alleviation of a UAV wing using variable camber

Performance optimization and gust load alleviation of a UAV ...

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23rd International Conference on Adaptive Structures and Technologies, ICAST 2012

作者： Bernhammer, lars O. teeuwen, Sjors P. W. De Breuker, Roeland van der Veen, Gijs J. Van Solingen, Edwin Delft University of Technology Netherlands

It is vital for an Uninhabited Aerial Vehicle (UAV) to meet contradictory mission requirements originating from the different tasks this type of aircraft has to fulfil. Among the most prominent requirements are manoeuvrability, endurance and range. The ability to switch between configurations that meet these requirements greatly enlarges the range of possible missions. A UAV wing has been developed to demonstrate the capacity to optimize the aerodynamic and structural performance. The wing is equipped with 4 Macro Fibre Composite (MFC) benders that can be controlled individually and each of these MFC benders actuates a section of the wing. It was chosen to use MFC benders as they possess several advantageous properties over conventional piezoceramic benders: they combine a wide frequency bandwidth with large deformations, yielding a high control authority, and they are less sensitive to cracks and failure, making them more robust for aerospace applications. A numerical study was conducted with XFLR5 to determine the optimal configurations of the flap positions for both range and endurance. A wind tunnel study was performed to verify these results. The wide frequency band of the actuators allows using the developed system also for other purposes such as load alleviation. UAVs are often light and fly at low airspeeds, which make them very sensitive to gust excitation. For this purpose the experimental model was equipped with two accelerometers to measure the amplitude of the first two deformation modes. The wing was designed such that the frequency of the first bending dominated mode and the first torsion dominated mode were close to each other. Consequently, a multiple-input multiple-output controller was used to reduce the amplitude of both modes due to a gust loading simultaneously. This was done with both range and endurance optimized flap configurations as steady state conditions. Finally, it was demonstrated during the wind tunnel tests that the variable camber

关键词： Antennas

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