Kenneth Gutierrez

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Faculty Mentor: Anuradha Annaswamy

Direct Supervisor: Manohar Srikanth

Home University: University of California, Irvine

Major: Mechanical Engineering

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Biography

I am a Junior attending school at the University of California, Irvine and majoring in Mechanical Engineering. I was raised in a small town in California named Colton. I am interested in research that involves the use and improvement of flight as it has always fascinated me. In my spare time, I love to watch television, play video games, and exercise. My main goal is to obtain a Ph.D in Aerospace and Mechanical Engineering and become a professor at a well-known university.

Abstract

Quadrotor Impact Manipulation

Unmanned Aerial Vehicles (UAVs) have practical use in flight with their simple vertical takeoff and landing trait. However, instead of using UAVs purely for flight, the Active Adaptive Control (AAC) Lab at MIT has proposed methods to use them in manipulation tasks where they come in contact with another rigid body and apply a certain force. This requires extensive modeling of the UAV and development of control strategies in order to accomplish specific tasks. The focus of the MIT Summer Research project was on what is denoted as Impact Manipulation, where the quadrotor is required to approach an object at velocities that are not necessarily small, apply a large force, and continue to fly at a stable manner. The realization of the project goals involves an analysis of the dynamics of the quadrotor aerial vehicle and how it impacts with other rigid objects. With an in-depth understanding the dynamics of the quadrotor, a PD controller was created in order to expand the range of impact velocities  and angles that will allow it to fly in a stable manner after impact. The resulting controlled UAV was shown to result in a significant improvement, through Nastran simulation, over the standard free-flight controller.