In this paper we present the design of a laboratory test-bed for education and research which is intended to replicate dynamic behavior control challenges an underactuated multirotor Unmanned Aerial Vehicle (UAV). The proposed setup designed study longitudinal pitch dynamics UAV by running experiments in safe controlled environment repeatable way. Based on open-source firmware (PX4), customizab...

Abstract This work investigates the planar motion of a dynamical model with two degrees-of-freedom (DOF) consisting connected tuned absorber simple pendulum. It is taken into account that pendulum’s pivot moves in Lissajous trajectory stationary angular velocity presence harmonic excitation moment. In terms model’s generalized coordinates, Lagrange’s equations are used to derive motion’s contro...

The paper considers and analyzes the existing methods of controlling systems with a deficit control actions. Based on analysis, it was decided to use linear controllers feedback state vector system compare these - modal linear-quadratic. For study, dynamic model chosen, which is an inverted 2-degree freedom (2DOF) pendulum mounted cart. By iterative method, acceptable generalized coordinates th...

A control configuration for the design of robust controllers in the general context of LTI systems (SISO, MIMO, stable, unstable) is presented. It consists of a two-degreeof-freedom control architecture constituted by a particular observed state feedback controller arising from a right coprime factorization of the plant together with a prefilter block. Before detailing the general design method...

In this study a new two degrees-of-freedom wake oscillator model is proposed to describe vortex-induced vibrations of elastically supported cylinders capable of moving in cross-flow and in-line directions. Total hydrodynamic force acting on the cylinder is obtained here as a sum of lift and drag forces, which are defined as being proportional to the square of the magnitude of the relative flow ...