Control Performance Analysis on Variable Configuration of Ducted-Fan Flight Array

This paper proposes a novel aerial system named as a ducted-fan flight array system. The distinct feature of the proposed system is a reconfigurable flight system by assembly or disassembly regarding its operational objectives. This array system comprises multiple ducted-fan unmanned aerial vehicles (UAVs) which have a favorable configuration to equip a connecting mechanism around its duct. For the proposed system, this paper discusses dynamics to take account of the change of physical properties due to its reconfigurable feature. Moreover, the dynamics deal with control effectors which comprise multiple flaps and rotors for the array configuration. Based on the derived dynamic model, performance analysis is conducted to consider total external force and moment, control effect, and mechanical connectivity between the vehicles with respect to various candidates for the array configuration. The analysis shows that dominant parameters are the control power and mechanical connectivity for the proposed flight array system. In contrast, the influence of the external force and moment is relatively small by configuration changes. Through this research, the suitable configuration of the array can be confirmed to be a close-set shape with a balanced control combination.