@inproceedings{895171a1d0dc42d99960b4daa7ced8c9,
title = "Modeling and Control Algorithm of the Multi-duct-rotor Mode Transformable Aircraft",
abstract = "In this article, we presented a mode transformable VTOL aircraft composed of ducted propellers in 6 × 6 squared array to meet the requirements of flying through narrow door and window openings. We defined the basic modes of the aircraft, modeled and analyzed the dynamic characteristics of each mode. We designed a cascade PID algorithm for different modes and a power switching method for rolling on the ground, proposed a partition rotational speed allocation method, and verified them in software simulation. The simulation results of each mode indicate that the aircraft has the ability to deform through narrow holes and roll forward.",
keywords = "Ducted propeller, Flight control, Mode transformable, VTOL aircraft",
author = "Mucheng Tang and Yue Ma and Zhiheng Bu",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 19th Chinese Intelligent Systems Conference, CISC 2023 ; Conference date: 14-10-2023 Through 15-10-2023",
year = "2023",
doi = "10.1007/978-981-99-6847-3_25",
language = "English",
isbn = "9789819968466",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "297--306",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Jiqiang Wang",
booktitle = "Proceedings of 2023 Chinese Intelligent Systems Conference - Volume I",
address = "Germany",
}