Control of a Novel Parallel Mechanism for the Stabilization of Unmanned Aerial Vehicles
Mohamad Haidar Chamas, Semaan Amine, Eddie Gazo Hanna, Ossama Mokhiamar
Abstract
The use of delivery drones is currently hindered by the inability of transported objects to maintain a steady position, which can result from roll-, pitch-, and heave-induced vibrations. This paper proposes a novel parallel manipulator for stabilizing the platform of unmanned aerial vehicles. The proposed mechanism builds upon an existing study of a 3-SRR/SRU parallel stabilizing mechanism by incorporating the dynamical properties of the system into the control model. The resultant control technique is then applied to both the 3-RRS and 3-SRR mechanisms, and a comparative study is conducted to identify the most reliable stabilizer for regulating the platform’s orientation. The results demonstrate that the 3-SRR mechanism exhibits superior robustness and stability characteristics compared to the other two mechanisms. Additionally, the 3-SRR mechanism is controlled using artificial neural networks, which significantly improves the accuracy and stability of the system. Overall, this research presents a novel and effective solution for stabilizing the platform of unmanned aerial vehicles, with significant implications for the development of delivery drone technology.