This controller is maintained for the robots:
iRonCub-Mk1_1
Jets dynamic model is just the numerical integration of the desired thrusts rate of changes. The controller uses the thrusts from numerical integration.
Jet dynamic model is designed based on experiments with the real turbines. The thrust rate of change is stabilized towards the reference values by means of a low-level jets control that sets desired throttle values.
Robot: iRonCub-Mk1_1
| SIMULATION TYPE | TAKE OFF | HOVERING | SLOW FLIGHT MANEUVERS | FAST FLIGHT MANEUVERS | LANDING |
|---|---|---|---|---|---|
| Without jet dynamics | NO | YES | YES | YES | NO |
| With jet dynamics | NO | NO | NO | NO | NO |