Abstract
Performance, stability, and control characteristics of a quad-rotor heavy lift airship concept with a simply suspended payload are determined by using an analytical model of such a configuration. Nonlinear equations of motion have been used to construct a hybrid computer simulation of the system as well as to derive a linear system model of the configuration dynamics. Results are presented that show 1) the performance of the vehicle in typical missions, such as offloading container ships and logging; 2) possible instabilities of the configuration dynamics; and 3) controllability of the vehicle-payload system in the flight envelope of operational interest.
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