Variable Aerodynamic Damping Actuation for Multirotor Aerial Robots

MSc assignment

Background

Variable Aerodynamic Damping Actuation (VADA) is a recently proposed method for changing the passive aerodynamic damping of a redundantly actuated aerial system.

The method uses aerodynamic co-contraction. Opposing propellers increase their actuation simultaneously while maintaining the same total force. This internal actuation change can increase the system’s passive resistance to air-relative motion.

The fundamental mechanism has been theoretically established for an aerodynamic dipole and assessed using experimental propeller data. It has not yet been fully modelled or experimentally validated on a complete multirotor exposed to external airflow. [1] https://arxiv.org/abs/2605.07292

 

Objective

The objective of this thesis is to determine whether VADA can be realized and exploited on a real multirotor aerial robot.

The work will extend the existing theory, validate its predictions experimentally, and develop a controller that uses aerodynamic damping modulation during flight.

Main activities

  • Develop a multirotor model that describes how aerodynamic co-contraction affects the forces generated in the presence of external airflow.
  • Extend the existing VADA theory from an idealized aerodynamic dipole to a complete redundantly actuated multirotor.
  • Identify measurable quantities and design experiments that can distinguish the predicted VADA effect from ordinary body drag and other aerodynamic effects.
  • Validate the theoretical predictions using a real multirotor and controlled airflow experiments.
  • Design and implement a controller that actively selects the level of aerodynamic co-contraction.
  • Evaluate whether VADA improves trajectory-tracking performance and resilience to airflow disturbances and measurement noise.

Expected outcomes

  • A mathematical model of VADA for a multirotor exposed to external airflow.
  • An experimental procedure for identifying and measuring the resulting aerodynamic damping.
  • Experimental evidence establishing whether the predicted phenomenon occurs on a real multirotor.
  • A flight controller that exploits VADA while preserving the commanded total force or wrench.
  • A quantitative comparison between flight with and without active aerodynamic damping modulation.

Required or preferred skills

  • A solid background in dynamical systems and control.
  • Experience with MATLAB/Simulink, Python, C++, or ROS.
  • Interest in multirotor modelling, aerodynamic experimentation, and flight control.
  • Previous experience with system identification or experimental robotics is beneficial.

Supervisors

  • Antonio Franchi
  • Mirko Mizzoni
  • Ruben Veenstra

Reference