A Comparative Stability Analysis of Underactuated Versus Fully-Actuated Rotorcrafts Having Time-Delay Feedback

Abstract

The actual paper provides a detailed comparative study of two rotorcraft configurations in terms of their stability with time-delay in the control loop of the system. These configurations correspond to the tilt-rotor (fully-actuated) and fixed-rotor (underactuated) rotorcraft. Such analysis considers the coupling between translation (slow dynamics) and rotational (fast dynamics) motions as a delayed system. Thus, a set of stability charts are presented to illustrate the stability profile for each configuration. We have carried out numerical models that captures essential dynamics of such aerial robots.