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This paper presents the basic mathematical model of a new hybrid six-rotor hoverbike. The proposed hoverbike has two modes of operation: the hovering mode and the ground mode. The hovering mode will act as a hexacopter with an overlapping technique to reduce weight and floor area. While the 'on-earth' mode, will act as a traditional land vehicle that moves on wheels. The proposed system provides more power and more lift, which means more time to fly. However, increasing drone size and weight, as well as manufacturing costs, work against it. The dynamic simulation results are carried out using MSC-ADAMS® and MATLAB®/Simulink. The pure pursuit algorithm is applied to the proposed system in the on-earth mode. A small-scale prototype of the system is being developed to validate the conceptual design. The dynamic simulation results and the experimental tests show the effectiveness of the proposed system during the two modes.

This work introduces the dynamic modelling and control for a new 3D translational pantograph manipulator. The new manipulator performs pure decoupled translational motions, high speed, rigidity besides its large workspace to size ratio. The complexity of the dynamic model obtained by using Euler-Lagrange first type method prevent using conventional controllers. A new controller is proposed to deal with such complexity called inverse optimal PID with Feed-Forward Control, which is designed in H∞framework. It has the following merits; robustness, optimality and efficient execution without the need of explicit forms of dynamic matrices. A comparative study has been carried out to validate the performance of the proposed controller and PD like fuzzy controller. The performance of the proposed controller is compared under two standard pick and place cycle with different speed for the case of payload variations. The dynamic simulation is carried out via co-simulation of MSC-ADAMS®and MATLAB®/Simulink software.