IEEE Robotics & Automation Magazine - December 2018 - 42
π /2
0
0
5
10
15
20 25
Time (s)
θdesy
30
35
40
Position (m)
Pitch Angle
(rad)
π
1.5
1
0.5
0
-0.5
-1
-1.5
0
θest,y
2
pdes,x
4
pest,x
0.2
0
-0.2
-0.4
0
5
10
15
20 25
Time (s)
θerrx
θerry
30
35
40
0
2
4
θerrz
6
Time (s)
θerrx
pest,y
12
perr,z
8
θerry
10
12
10
12
θerrz
(b)
0.5
0
-0.5
0
5
10
15
20 25
Time (s)
perrx
perry
30
35
40
Tilting
Angles (rad)
Position (m)
pdes,y
10
0.2
0.1
0
-0.1
-0.2
(b)
π /2
π /4
0
-π /4
-π /2
0
perrz
(c)
Tilting
Angles (rad)
8
(a)
Rotation (rad)
Orientation
(rad)
(a)
6
Time (s)
2
α1
π
π /2
0
-π /2
-π
4
α2
6
Time (s)
α3
α4
8
α5
α6
(c)
0
5
10
α1
15
α2
20 25
Time (s)
α3
α4
30
α5
35
40
Figure 10. The (a) position, (b) rotation, and (c) tilting angles
of the Voliro UAV during the horizontal plus maneuver. The
orientation is given in zxy-Euler angles iv. The desired rotation
angle around the x axis is 50c .
α6
(d)
Rotor
Speeds
1
0.8
0.6
0.4
0
5
n12
10
15
n22
20 25
Time (s)
n32
n42
30
n52
35
40
n62
(e)
Figure 9. The (a) pitch angle, (b) orientation, (c) position,
(d) tilting angles, and (e) rotor speeds during the Voliro's
transition to upside-down flight. The x axis of all of the plots
displays the time in seconds. The orientation is given in zxyEuler angles iv. The squared rotor speeds are scaled, with 1
representing the maximal thrust produced by a rotor.
42
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
december 2018
Figure 11. The three-sphere module mounted on the Voliro
prototype.
IEEE Robotics & Automation Magazine - December 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2018
Contents
IEEE Robotics & Automation Magazine - December 2018 - Cover1
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IEEE Robotics & Automation Magazine - December 2018 - Contents
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IEEE Robotics & Automation Magazine - December 2018 - Cover3
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