Design, Modeling and Control of a Personal Aerial System

Miniature personal aerial vehicles (PAVs) with vertical take-off and landing (VTOL) capabilities offer numerous advantages over existing vehicles, particularly in terms of high maneuverability, manned flight capability, and load-carrying capacity required during rescue missions. However, the detailed research work was reported infrequently. In this paper, a miniature PAV capable of piloted operation in both standing and sitting postures is introduced. This PAV, weighing 45kg and measuring 45cm*87cm*154cm, is designed for easy transport and minimal spatial footprint. It incorporates five vertically arranged micro turbojet engines that enable VTOL capabilities and can carry loads exceeding 100kg while maintaining high maneuverability. Notably, a two-degree-of-freedom nozzle mechanism attached to the engines allows for precise thrust direction adjustments. Building upon this propulsion system and the physical model of the PAV, a cascade proportional-integral-derivative (PID) controller is specifically designed for the PAV to regulate its position and attitude. Additionally, a feed-forward-based proportional-derivative (PD) controller is implemented to enhance the engine's thrust response. The PAV prototype underwent rigorous testing in various outdoor conditions, ranging from temperatures of -7℃ to 42℃ and wind speeds of 0 to 7.2m/s. The test results substantiate the feasibility of the proposed PAV's working principles, demonstrating its adaptability to environmental fluctuations. While the focus of this paper lies on the miniature PAV system, its implications extend to broader applications within advanced air mobility research.