New stable by construction autonomous aerial vehicle: configuration and dynamic model.

[ES] En los últimos años, diferentes estrategias y modelos matemáticos se han desarrollado para el análisis y control de vehículos aéreos no tripulados. El presente artículo amplía este panorama al enfocarse en un sistema aéreo no tripulado estable por construcción. Gracias a su diseño, el sistema reportado disipa la energía que recibe por la acción de perturbaciones externas. El sistema propuesto cuenta con un rotor único para el desarrollo de diferentes tipos de vuelo. Este artículo reporta el concepto de diseño del sistema aéreo no tripulado, la estructura de su modelo dinámico de nueve grados de libertad, un conjunto de simulaciones numéricas que permiten analizar el comportamiento del modelo desarrollado y los primeros resultados experimentales que validan la estabilidad por construcción del vehículo aéreo autónomo. Los dos aspectos más significativos e innovadores reportados en este artículo son el uso de un rotor único orientable para la ejecución de diferentes modos de vuelo y la propiedad inherente del sistema tal que sus estructuras, externa e interna, son estables por construcción.[EN] In recent years, different strategies and mathematical models have been developed in order to analyze and control unmanned aerial vehicles. This article expands this panorama by focusing on a, stable by construction, unmanned aerial system. Thanks to its design, the reported system dissipates the energy received by the action of external disturbances. The proposed vehicle has a unique rotor in order to perform different flight modes. This article reports the design concept of the aerial system, the mathematical structure of its nine degrees of freedom dynamic model, a set of numerical simulations allowing the analysis of the behavior of the developed model and the first experimental results that validate the stability, by construction, of the aerial vehicle. The two most significant and innovative aspects reported in this article are the use of a single orientable rotor to perform different flight modes and the inherent property of the system that makes it stable by construction.Este trabajo fue apoyado por la Universidad Autónoma del Estado de México bajo el proyecto de investigación: Desarrollo de un Vehículo Esférico Aéreo Autónomo con clave 3818/2014/CIB. Eduardo Sánchez Fontes agradece el financiamiento por la beca CONACYT CVU 553663.Sánchez-Fontes, E.; Avila Vilchis, JC.; Vilchis-González, AH.; Saldivar, B.; Jacinto-Villegas, JM.; Martínez-Mendez, R. (2020). 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