A trajectory tracking algorithm for a hopping rotochute using surrogate models

Derya Aksaray, Dimitri Mavris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


The Hopping Rotochute is a promising micro vehicle for exploring rough and complex terrains with minimum energy consumption. While it is able to fly over obstacles via thrust produced by its coaxial rotor, its physical architecture, inspired from a 'Weebles Wooble,' provides reorientation wherever it hits the ground. In this paper, we propose a control strategy for a Hopping Rotochute to track any pre-planned trajectory autonomously. The proposed control scheme involves some parametric hop models to incorporate the dynamics of the vehicle in the control selection. Based on the models, an optimization problem is solved for the control of each hop during a mission. In this study, we conduct some illustrative simulations on a Hopping Rotochute to demonstrate the success of the proposed approach.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479901777
StatePublished - Jan 1 2013
Externally publishedYes
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2013 1st American Control Conference, ACC 2013
Country/TerritoryUnited States
CityWashington, DC


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