Systems and methods for aerial vehicles equipped with control moment gyroscopes

Abstract

An aerial vehicle system includes one or more actuators; a processor; and a non-transitory, computer-readable storage medium communicatively coupled to the processor. The processor is configured to: receive one or more predetermined state values, wherein the one or more predetermined state values include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof; receive one or more sensing parameters; compare the one or more predetermined state values with the one or more sensing parameters; generate, based on the comparison, one or more signals to stabilize an aerial vehicle; transmit the one or more signals to the one or more actuators; and control, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

Description

SYSTEMS AND METHODS FOR AERIAL VEHICLES EQUIPPED WITH CONTROL MOMENT GYROSCOPESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and benefit of, under 35 U.S.C. §119(e), U.S. Provisional Patent Application Serial Number 63 / 534,550, filed August 24, 2023 and titled “SYSTEM AND METHOD FOR STABILIZING CONTROL MOMENT GYROSCOPES- EQUIPPED AERIAL VEHICLES”, which is incorporated herein by reference in its entirety.FIELD

[0002] The present disclosure generally relates to aerial vehicles, and more particularly, to aerial vehicles equipped with control moment gyroscopes.BACKGROUND

[0003] Aircraft are influenced by heavy winds and turbulence, which can have significant implications. In addition, turbulence can make passengers unsettled and uncomfortable if the aircraft is not equipped or configured to be properly controlled or maintained in response to encountering the heavy winds and turbulence. Conventional systems fail to address these deficiencies.SUMMARY

[0004] In one aspect, an aerial vehicle system may include one or more actuators. The aerial vehicle system may include a processor. The aerial vehicle system may include a non- transitory, computer-readable storage medium communicatively coupled to the processor. The processor may be configured to receive one or more predetermined state values. The one or more predetermined state values may include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof. The processor may be configured to receive one or more sensing parameters. The processor may be configured to compare the one or more predetermined state values with the one or more sensing parameters. The processor may be configured to generate, based on the comparison, one or more signals to stabilize an aerial vehicle. The processor may be configured to transmit the one or more signals to the one or more actuators. The processor may be configured to control, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

[0005] In another aspect, a method to be performed by a controller of an aerial vehicle system is provided. The method may include receiving one or more predetermined state values. The one or more predetermined state values may include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof. The method may include receiving one or more sensing parameters. The method may include comparing the one or more predetermined state values with the one or more sensing parameters. The method may include generating, based on the comparison, one or more signals to stabilize an aerial vehicle. The method may include transmitting the one or more signals to the one or more actuators. The method may include controlling, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

[0006] In yet another aspect, a non-transitory, computer-readable medium may include instructions that, when executed by at least one processor, cause the at least one processor to perform one or more operations including receiving one or more predetermined state values. The one or more predetermined state values may include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof. The one or more operations may include receiving one or more sensing parameters. The one or more operations may include comparing the one or more predetermined state values with the one or more sensing parameters. The one or more operations may include generating, based on the comparison, one or more signals to stabilize an aerial vehicle. The one or more operations may include transmitting the one or more signals to the one or more actuators. The one or more operations may include controlling, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators

[0007] These and other features, and characteristics of the present technology, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the disclosure. As used in the specification and in the claims, the singular form of 'a', 'an', and 'the' include plural referents unless the context clearly dictates otherwise.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, wherein like structure is indicated with like reference numerals and in which:

[0009] FIG. 1 schematically depicts an aerial system according to one or more aspects shown and described herein;

[0010] FIG. 2 schematically depicts an aerial vehicle system of FIG. 1 according to one or more aspects shown and described herein;

[0011] FIG. 3 schematically depicts one or more actuators of the aerial vehicle system of FIG. 2 according to one or more aspects shown and described herein;

[0012] FIG. 4 schematically depicts directional factors for a control moment gyroscope of FIG. 3 according to one or more aspects shown and described herein;

[0013] FIG. 5 schematically depicts an aerial vehicle including the control moment gyroscopes of FIG. 4 according to one or more aspects shown and described herein;

[0014] FIG. 6 graphically depicts attitude and angular velocity data for the aerial vehicle of FIG. 5 according to one or more aspects shown and described herein; and

[0015] FIG. 7 depicts a flow diagram of an illustrative method performed by an illustrative controller of FIG. 2 according to one or more aspects shown and described herein.DETAILED DESCRIPTION

[0016] The present disclosure relates to aerial vehicles equipped with control moment gyroscopes.

[0017] When fixed-wing aircraft, such as commercial aircraft, encounter heavy wind, the aircraft’s attitude is stabilized by: i) decreasing the aircraft’s speed, and / or ii) adjusting the control surface via actuators. Although decreasing the aircraft’s speed can reduce the effect of turbulence and increases stability, flying at a lower speed may result in increased fuel consumption compared to flying at the most efficient cruising speed.

[0018] The autopilot system of the aircraft may be helpful to mitigate the effect of turbulence, but adjusting the control surfaces for counteracting sudden changes in airflow may lead to increased air drag, thereby increasing fuel consumption. In certain instances, the autopilot system may not properly stabilize the aircraft under turbulence because it is designed to maintain a specific heading, altitude, and airspeed as programmed by the pilots. Another concern is that users, which may refer to passengers, in the aircraft may feel uncomfortable when the aircraft experiences heavy wind.

[0019] Regarding vertical take-off and landing (VTOL) aircraft (rotary-wing aircraft), if aircraft encounter heavy wind, the aircraft’s attitude is stabilized by: i) changing the rotor speed, or ii) increasing the number of rotors, which may enhance the stability of the aircraft. In certain instances, changing the rotor speed alone might not be sufficient to stabilize the aircraft if the aircraft encounters a gust of wind or heavy sustained wind. Increasing the number of rotors may result in unnecessary increase in weight of the aerial vehicle, thereby leading to additional constituent components that compensate or otherwise account for this added weight and operational efficiency since, for example, additional battery power (and subsequently additional weight due to the battery) is needed. Further, the response rate of the rotor speed changes may not be sufficiently fast to overcome strong winds. These issues could potentially result in an aircraft that is out of control. Moreover, rapid changes in rotor speed for overcoming disturbance or increasing the number of rotors leads to the fast drain of the batteries, thus decreasing operation time. As with fixed-wing aircraft, users in the aircraft may feel uncomfortable when heavy winds hit the aircraft.

[0020] In view of the above, the systems and methods disclosed herein provide not only improved stabilization of an aerial vehicle equipped with one or more control moment gyroscopes, but also enhanced human comfort. These control moment gyroscopes, as will be further explained below, are one of the actuators configured to control the rotational motion of aircraft. One advantageous characteristic of these types of gyroscopes is reduced energy consumption. For example, while storing momentum, the control moment gyroscope may be configured to generate torque with small gimbal rate changes. Another advantageous characteristic of the control moment gyroscope is agile operation. For example, the control moment gyroscope may be configured to generate an instant and a significant amount of torque by changing the direction of the angular momentum using the gimbal. As will be further explained below, in certain embodiments, the control moment gyroscopes are configured as “sub-actuators” to produce torque that assist themain actuator(s) of the aerial vehicle, while also taking into account a plurality of factors pertaining to human comfort during a route navigated by the aerial vehicle, and in response to mitigating the effect of high wind and / or turbulence experienced by the aerial vehicle.

[0021] The systems and methods disclosed herein utilize the control moment gyroscopes that are adaptively controlled using a control algorithm to stabilize the aerial vehicle while considering human comforts during a flight by the aerial vehicle. In the control algorithm, any combination of the following factors may be taken into account during stabilization of the aerial vehicle: roll and pitch angle oscillation (magnitude and frequency); angular velocity oscillation (magnitude and frequency); angular jerk; longitudinal acceleration; and a rate of change in the altitude. The aerial vehicle may be stabilized within acceptable ranges of these factors, which users may be associated to feel comfortable with. Various control algorithms or techniques are applied to generate the control signals for stabilizing the aerial vehicle. By way of example, the control algorithms may include, but are not limited to, disturbance robust control, disturbance observer-based control, active disturbance rejection control, and / or deep or machine learningbased control. By way of example, the systems and methods may include techniques for stabilizing the aerial vehicle via the control moment gyroscopes, including eliminating certain frequencies that may be known to cause discomfort for users during a flight route navigated by the aerial vehicle. By way of example, techniques for eliminating certain frequencies include, but are not limited to, resonant control, frequency-domain disturbance observer-based control, extended state observer-based control, and / or iterative learning control.

[0022] The systems and methods disclosed herein provide various advantages, such as improved response and time, reduced power consumption, adaptive control of the aerial vehicle, robust against disturbance, and minimized motion sickness of users (for example, such as users do not feel uncomfortable during flight). Additional advantages include reduced load for pilots, and reduced power (or fuel) consumption.

[0023] FIG. 1 schematically depicts an aerial system 100 according to one or more aspects shown and described herein. The aerial system 100 may include an aerial vehicle system 105, a server 110, and a network 115. While not depicted, the system 100 may include a vehicle, such as an aerial vehicle, similar to aerial vehicle 500 of FIG. 5. Although single instances of the constituent components of the aerial system 100 may be depicted, the aerial system 100 may include any number of constituent components.

[0024] The aerial vehicle system 105 will be described with reference to FIG. 2. In certain embodiments, the aerial vehicle system 105 may be internal to an aerial vehicle. In certain embodiments, the aerial vehicle system 105 may be external to the aerial vehicle. Still further, in certain embodiments, any combination of the constituent components of the aerial vehicle system 105 may be internal to the aerial vehicle and / or any combination of the constituent components of the aerial vehicle system 105 may be external to the aerial vehicle. The aerial vehicle system 105 may be configured to stabilize the aerial vehicle, as further explained below with reference to FIG. 2.

[0025] The server 110 may be in communication with any of the constituent components of the aerial system 100 via one or more networks 115, and may operate as a respective front-end to back-end pair with the aerial vehicle system 105.

[0026] The aerial vehicle system 105 may transmit, for example from a mobile device application including instructions for execution on a user device (not shown), one or more requests to the server 110. The one or more requests may be associated with retrieving data from the server 110. The server 110 may receive the one or more requests from the aerial vehicle system 105. Based on the one or more requests from user device, the server 110 may be configured to retrieve the requested data from one or more databases (not shown). Based on receipt of the requested data from the one or more databases, the server 110 may be configured to transmit the received data to the aerial vehicle system 105, the received data being responsive to one or more requests.

[0027] In some examples, the server 110 may include one or more processors, which are coupled to memory. The server 110 may be configured as a central system, server or platform to control and call various data at different times to execute a plurality of workflow actions.

[0028] The network 115 may be one or more of a wireless network, a wired network or any combination of wireless network and wired network and may be configured to connect any of the components of aerial vehicle system 105. For example, the network 115 may include one or more of a fiber optics network, a passive optical network, a cable network, an Internet network, a satellite network, a wireless local area network (LAN), a Global System for Mobile Communication, a Personal Communication Service, a Personal Area Network, Wireless Application Protocol, Multimedia Messaging Service, Enhanced Messaging Service, Short Message Service, Time Division Multiplexing based systems, Code Division Multiple Accessbased systems, D-AMPS, Wi-Fi, Fixed Wireless Data, IEEE 802.11b, 802.15.1, 802. l ln and 802.11g, Bluetooth, NFC, Radio Frequency Identification (RFID), Wi-Fi, and / or the like.

[0029] In addition, the network 115 may include, without limitation, telephone lines, fiber optics, IEEE Ethernet 802.3, a wide area network, a wireless personal area network, a LAN, or a global network such as the Internet. In addition, the network 115 may support an Internet network, a wireless communication network, a cellular network, or the like, or any combination thereof. The network 115 may further include one network, or any number of the exemplary types of networks mentioned above, operating as a stand-alone network or in cooperation with each other. The network 115 may utilize one or more protocols of one or more network elements to which they are communicatively coupled. The network 115 may translate to or from other protocols to one or more protocols of network devices. Although the network 115 is depicted as a single network, it should be appreciated that according to one or more examples, the network 115 may include a plurality of interconnected networks, such as, for example, the Internet, a service provider's network, a cable television network, corporate networks, such as credit card association networks, and home network.

[0030] FIG. 2 schematically depicts an aerial vehicle system 105 according to one or more aspects shown and described herein. The aerial vehicle system 105 may include one or more sensors 210, a controller 220, one or more actuators 230, and one or more non-transitory processor-readable storage mediums 240. Although single instances of the constituent components of the aerial vehicle system 105 may be depicted, the aerial vehicle system 105 may include any number of constituent components.

[0031] In certain embodiments, the one or more sensors 210 may be configured to measure one or more sensing parameters. Without limitation, the one or more sensing parameters may include an angular jerk (rate of change of the angular acceleration vector), a rate of change in altitude, a magnitude and frequency of attitude oscillation, a magnitude and frequency of angular velocity oscillation, a longitudinal acceleration, or any combination thereof.

[0032] In certain embodiments, the one or more sensors 210 may be configured to measure state information for the aerial vehicle 500 (FIG. 5) and the one or more actuators 230. For the aerial vehicle 500, an inertial measurement unit (IMU), such as an IMU sensor, may be configured to acquire data concerning attitude, angular velocity, and acceleration. Also, the data from the IMU sensor may be used to calculate angular jerk, magnitude and frequency of attitude andangular velocity oscillation. For the one or more actuators 230, information on a flywheel speed may be acquired from a tachometer for the flywheel 310. Moreover, a gimbal speed and an angle may be acquired from the tachometer and an encoder for the gimbal.

[0033] The collected data may include a number of factors affecting user or human comfort. Such factors may include, but are not limited to, roll and pitch angle oscillation (magnitude and frequency), angular velocity oscillation (magnitude and frequency), angular jerk, longitudinal acceleration, and rate of change in altitude. By way of example, motion sickness may occur due to a disconnection between what the eyes see and what the inner ear senses, and a high angular jerk (for example, relative to a value exceeding a predetermined angular jerk value) can exacerbate this disconnection.

[0034] In certain embodiments, the controller 220 may include one or more processors. The processor, or the one or more processors, such as a central processing unit (CPU), may be the central processing unit that is configured to perform calculations and logic operations to execute one or more programs. The processor, alone or in conjunction with the other components, may be an illustrative processing device, computing device, processor, or combinations thereof, including, for example, a multi-core processor, a microcontroller, a field-programmable gate array (FPGA), or an application-specific integrated circuit (ASIC). The processor may include any processing component configured to receive and execute instructions (such as from the non- transitory processor-readable storage medium 240). In some embodiments, the processor may include a plurality of processing devices.

[0035] By way of example, the processing device may be a network-enabled computer. As referred to herein, a network-enabled computer may include, but is not limited to a computer device, or communications device including, e.g., a server, a network appliance, a personal computer, a workstation, a phone, a handheld PC, a personal digital assistant, a thin client, a fat client, an Internet browser, or other device. The processing device also may be a mobile device; for example, a mobile device may include an iPhone, iPod, iPad from Apple® or any other mobile device running Apple's iOS® operating system, any device running Microsoft's Windows® Mobile operating system, any device running Google's Android® operating system, and / or any other smartphone, tablet, or like wearable mobile device.

[0036] In certain embodiments, the one or more actuators 230 may include one or more control moment gyroscopes 305, as will be further explained with reference to FIG. 3. Further,one or more actuators 230 may include one or more actuators 330 of the vehicle. For example, the one or more actuators 330 may be those of the aerial vehicle.

[0037] The one or more control moment gyroscopes 305 may include a mass that is a flywheel 310, a motor 315 that rotates the flywheel 310, and a gimbal motor 325 that rotates the flywheel 310 and the motor 315. The motor 315 may include a flywheel motor. As previously mentioned, the number of control moment gyroscopes 305 can be changed depending on system requirements, weight, and power consumption. In certain embodiments, a minimum of two control moment gyroscopes 305 may be used in the aerial vehicle system 105 for controlling the roll and pitch axes. In certain embodiments, a minimum of three control moment gyroscopes 305 may be used in the aerial vehicle system 105 configured for three-axis control (roll, pitch, and yaw axes) by changing the axis of rotation of the flywheel 310. The location of the one or more control moment gyroscopes 305 may be determined considering the center of mass of the aerial vehicle 500. The control moment gyroscopes 305 may be additionally installed to assist the actuators 330 of the aerial vehicle 500 under wind disturbance and to control the aerial vehicle 500, thereby ensuring comfort of the user.

[0038] In certain embodiments, the non-transitory processor-readable storage medium 240 may contain one or more data repositories for storing data that is received and / or generated. The non-transitory, processor-readable storage medium 240 may be any physical storage medium, including, but not limited to, a hard disk drive (HDD), memory (e.g., read-only memory (ROM), programmable read-only memory (PROM), random access memory (RAM), double data rate (DDR) RAM, flash memory, and / or the like), removable storage, a configuration file (e.g., text) and / or the like. While the non-transitory, processor-readable storage medium 240 is depicted as a local device, it should be understood that the non-transitory, processor-readable storage medium 240 may be a remote storage device, such as, for example, a server computing device, cloud-based storage device, or the like. The non-transitory, processor-readable storage medium 240 may be communicatively coupled to the processor.

[0039] The non-transitory, processor-readable storage medium 240 may be configured to store acceptable ranges of each factor as a table for the control signals transmitted by the controller 220 to the one or more actuators 230. By way of example, the acceptable ranges of each factor (that users feel comfortable with) may be obtained from existing studies, surveys, experiments, and the like, that are stored in the non-transitory, processor-readable storage medium 240, and which may also be periodically updated. Referring also to FIG. 5, the non-transitory, processor-readable storage medium 240 may be configured to store all state information of the aerial vehicle 500 and the one or more actuators 230, including the control moment gyroscopes 305, (measured and computed data and control signals generated) to utilize the information for improving the control algorithm(s) after the flight. Information to be stored using the non-transitory, processor- readable storage medium 240 (for example, including all axes information) includes but is not limited to the state of the aerial vehicle 500 (roll, pitch, and yaw), angular velocity, angular jerk, acceleration, altitude, rate of change in altitude) and the state of the one or more actuators 230 (such as a flywheel speed, a gimbal speed, a gimbal angle, and a rotor speed or a control surface angle (which may include a component of the an actuator 330 of the aerial vehicle 500)).

[0040] The aerial vehicle system 105 may further include one or more interface components (not shown) that are generally hardware components that provide an interface with a user or an external device. For example, the one or more interface components may include user interface components, communications hardware, and / or the like. Illustrative examples of the one or more interface components include, but are not limited to, hardware components that receive inputs from a user and transmit signals corresponding to the inputs, such as a keyboard, a mouse, a joystick, a touch screen, a remote control, a pointing device, a video input device, an audio input device, a haptic feedback device, a touchscreen and / or the like. Other illustrative examples of the one or more interface components include, but are not limited to, network interface hardware (e.g., wired or wireless networking hardware), such as a modem, LAN port, wireless fidelity (Wi-Fi) card, WiMax card, mobile communications hardware, and / or other hardware for communicating with other networks and / or devices. Other devices that may be used for the one or more interface components not specifically described herein are contemplated and included in the scope of this disclosure.

[0041] The processor may be configured to acquire one or more predetermined state values from the non-transitory, processor-readable storage medium 240. The one or more predetermined state values include one or more user values associated with aerial vehicle 500 instability such as turbulence, motion sickness, or any combination thereof. For example, the processor may be configured to obtain the one or more predetermined state values from the non- transitory, processor-readable storage medium 240. The one or more user values may include one or more acceptable values associated with the states used in the control algorithms. For example, a first predetermined state value may be associated with a first acceptable value, or a first acceptable range, associated with turbulence. A second predetermined state value may beassociated with a second acceptable value, or a second acceptable range, associated with motion sickness. In this manner, the one or more user values may be associated with one or more user factors.

[0042] In certain embodiments, and by way of example, taking the attitude and angular velocity oscillation, which may have an impact on human comfort, their oscillation frequencies may be controlled by the processor to be less than or greater than 1 Hz since human discomfort may be felt, including motion sickness, at this frequency. It is understood that that the oscillation frequency is not limited to this frequency value, and that values other than 1 Hz may be used, for example, at which human discomfort may be experienced. Further, in certain embodiments, these frequency values may be applicable regardless of the type of aerial vehicle 500 because the human discomfort may result from the undesired motion of the aerial vehicle 500.

[0043] The processor may be configured to receive one or more sensing parameters. For example, the processor may be configured to receive the one or more sensing parameters from the one or more sensors. The processor may be configured to compare the one or more predetermined state values with the one or more sensing parameters. For example, once the sensing data for the state of the aerial vehicle 500 is acquired, the processor may be configured to compare the measured states with the acceptable state values by the non-transitory, processor-readable storage medium 240.

[0044] The processor may be configured to generate, based on the comparison, one or more signals to stabilize an aerial vehicle. For example, based on the comparison results, the processor may be configured to generate, via one or more control algorithms, one or more control signals including a control torque for the control moment gyroscopes 305 to maintain the states related to human comforts within the acceptable state values. The processor may be configured to transmit the one or more signals to the one or more actuators 230. The processor may be configured to control, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators 230. The processor may be configured to adaptively control the respective attitude and angular velocity states, via the control moment gyroscopes 305, to stabilize these states of the aerial vehicle 500.

[0045] In certain embodiments, after termination of the flight, the processor may be configured to store flight data and update the one or more control algorithms based on the stored flight data, and use this data as input to train and retrain one or more artificial intelligence-basedcontrol algorithms to improve the quality of the one or more control algorithms, so as to learn and improve control logic and stability of the aerial vehicle 500. In certain embodiments, the one or more control algorithms may or may not be artificial intelligence-based.

[0046] FIG. 3 schematically depicts one or more actuators 230 of an aerial vehicle system 105 according to one or more aspects shown and described herein. Although single instances of the constituent components of the one or more actuators 230 may be depicted, the one or more actuators 230 may include any number of constituent components.

[0047] In certain embodiments, the one or more actuators 230 may include at least two control moment gyroscopes 305. For example, a first control moment gyroscope 305 may be configured to control a roll axis, and a second control moment gyroscope 305 may be configured to control a pitch axis. The first control moment gyroscope 305 and / or the second control moment gyroscope 305 may include a flywheel 310, a wheel motor 315, and a gimbal motor 325.

[0048] In certain embodiments, the one or more actuators 230 may include at least three control moment gyroscopes 305. For example, a first control moment gyroscope 305 may be configured to control a roll axis, a second control moment gyroscope 305 may be configured to control a pitch axis, and a third control moment gyroscope 305 may be configured to control a yaw axis. The first control moment gyroscope 305 and / or the second control moment gyroscope 305 and / or the third control moment gyroscope 305 may include a flywheel 310, a wheel motor 315, and a gimbal motor 325.

[0049] FIG. 4 schematically depicts directional factors for a control moment gyroscope 305 according to one or more aspects shown and described herein. For example, FIG. 4 illustrates angular momentum (h) of the control moment gyroscope, an output torque (T) on the aerial vehicle, and gimbal rate (<5) relative to a gimbal. The gimbal provides pivoted supports, allowing the flywheel 310 to rotate about a single axis. While a single gimbal is depicted, it is understood that there may any number of gimbals, such as two or three or more gimbals to rotate the flywheel 310.

[0050] FIG. 5 schematically depicts an aerial vehicle 500 including control moment gyroscopes according to one or more aspects shown and described herein. Without limitation and by way of example, and in certain embodiments, the aerial vehicle 500 may include a drone, but may be another type of aerial vehicle, such as an airplane or a helicopter. In certain embodiments,the aerial vehicle 500 may include an autonomous aerial vehicle, such as an autonomous drone. In certain embodiments, the aerial vehicle 500 may include a non-autonomous aerial vehicle, such as a non-autonomous drone. The aerial vehicle 500 may include at least two control moment gyroscopes 305. For example, the control moment gyroscopes 305 may be installed on a portion or a structure of the aerial vehicle 500. Although the control moment gyroscopes 305 may be depicted as installed on opposite sides of the aerial vehicle 500, it is understood that the location configuration is not limited to such an arrangement. In certain embodiments, the control moment gyroscopes 305 may be disposed on the aerial vehicle 500 based on a center of mass of the aerial vehicle 500. For example, the two control moment gyroscopes 305 may be installed on a structure of an aerial vehicle 500. The two control moment gyroscopes 305 may be configured to control a roll axis and a pitch axis of the aerial vehicle 500. The location of the control moment gyroscopes 305, such as being based on the center of mass of the aerial vehicle 500, may be chosen as such because, for example, a deviation of the center of mass from the center of the aerial vehicle 500 may undesirably generate torque that can result in rendering the aerial vehicle 500 unstable. However, even if disturbance torque may be produced by the deviation of the center of mass, such disturbance may be handled by the processor of controller 220 that is configured to compensate for the disturbance by generating an appropriate control torque as described herein.

[0051] It is understood that the aerial vehicle 500 is not limited to a single type of an aerial vehicle, and that other types of aerial vehicles, or other types of vehicles in general, may be used. For example, a terrain vehicle may be used in lieu of an aerial vehicle 500. In another example, a sub-terrain vehicle may be used, such as a ship or an underwater vessel or a submarine in lieu of the aerial vehicle 500. Without limitation, the aerial vehicle 500 may include a drone or an aircraft. This enables the aerial vehicle 500 to stabilize in the presence of external disturbances by exploiting the advantages of the control moment gyroscopes 305, which may be configured to instantaneously generate a significant amount of torque. In certain embodiments, the number of control moment gyroscopes 305 may be changed depending on the attitude control requirement, weight, and power consumption.

[0052] In another embodiment, at least three control moment gyroscopes 305 may be installed on the aerial vehicle 500. For example, the three control moment gyroscopes 305 may be configured for three-axis control (roll, pitch, and yaw axes of the aerial vehicle 500). The location of the control moment gyroscopes 305 may be determined by considering the center of mass of the aerial vehicle 500.

[0053] FIG. 6 graphically depicts attitude and angular velocity data for an aerial vehicle 500. For example, the attitude and angular velocity data for the aerial vehicle 500 may be depicted relative to with and without the control moment gyroscopes 305. As observed from the graphs of FIG. 6, aerial the vehicle’ s attitude and angular velocity (including the control moment gyroscopes 305) are stabilized quickly and smoothly so that users do not feel uncomfortable relative to the aerial vehicle 500 (in the case of an aerial vehicle with passengers), whereas the aerial vehicle’s own actuators 330, including an engine, stabilize the aerial vehicle 500 with attitude and angular velocity oscillation (excluding the control moment gyroscopes 305) at a reduced rate and time. The processor may be configured to adaptively control the respective attitude and angular velocity states, via the control moment gyroscopes 305, to stabilize these states of the aerial vehicle 500.

[0054] With continued reference to FIG. 6, in certain embodiments, without the control moment gyroscopes 305, the actuators 330 (for example, rotors) of the aerial vehicle 500 may bear a substantial workload to adjust rotor speed and counter wind disturbances, whereas such tasks are handled by the control moment gyroscopes 305 (when included) to provide more torque with less power.

[0055] FIG. 7 depicts a flow diagram of an illustrative method 700 performed by the controller 220 of FIG. 2 according to one or more aspects shown and described herein. FIG. 7 may reference and incorporate any of the above constituent components and operations of the aerial system 100 of FIG. 1, the aerial vehicle system 105 of FIG. 2, the one or more actuators 230 of FIG. 3, the control moment gyroscope 305 of FIG. 4, the aerial vehicle 500 of FIG. 5, and the aerial vehicle parameters stability of FIG. 6. For purposes of brevity, the below blocks for the method 700 may be carried out with reference to the constituent components and operations of the processor of the controller 220 previously explained above with respect to any of FIGS. 1 to 6.

[0056] At block 705, the non-transitory, processor-readable storage medium 240 may include one or more instructions stored thereon that, when executed, cause the processor of the controller 220 to receive one or more predetermined state values stored in the non-transitory, processor-readable storage medium 240. The one or more predetermined state values include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof. For example, the processor may be configured to obtain the one or more predetermined state values from the non-transitory processor-readable storage medium 240. The one or more user values may include one or more acceptable values. For example, a firstpredetermined state value may be associated with a first acceptable value, or a first acceptable range, associated with turbulence. A second predetermined state value may be associated with a second acceptable value, or a second acceptable range, associated with motion sickness. In this manner, the one or more user values may be associated with one or more user factors.

[0057] At block 710, the non-transitory, processor-readable storage medium 240 may include one or more instructions stored thereon that, when executed, cause the processor to receive one or more sensing parameters. In certain embodiments, one or more sensors 210 may be configured to measure the one or more sensing parameters. Without limitation, the one or more sensing parameters may include an angular jerk, a rate of change in altitude, a magnitude and frequency of attitude oscillation, a magnitude and frequency of angular velocity oscillation, a longitudinal acceleration, or any combination thereof.

[0058] In certain embodiments, the one or more sensors 210 may be configured to measure state information for the aerial vehicle 500 and the one or more actuators 230. For the aerial vehicle 500, an inertial measurement unit (IMU), such as an IMU sensor, may be configured to acquire data concerning attitude, angular velocity, and acceleration. Also, the data from the IMU sensor may be used to calculate angular jerk, magnitude and frequency of attitude and angular velocity oscillation. For the one or more actuators 230, information on a flywheel speed may be acquired from a tachometer for the flywheel 310. Moreover, a gimbal speed and an angle may be acquired from the tachometer and an encoder for the gimbal.

[0059] At block 715, the non-transitory, processor-readable storage medium 240 may include one or more instructions stored thereon that, when executed, cause the processor to compare the one or more predetermined state values with the one or more sensing parameters. At block 720, the non-transitory, processor-readable storage medium 240 may include one or more instructions stored thereon that, when executed, cause the processor to generate one or more signals. For example, based on the comparison results, the processor may be configured to, via one or more control algorithms, generate one or more control signals including a control torque for the control moment gyroscopes 305 to maintain the states related to human comforts within the acceptable state values.

[0060] At block 725, the non-transitory, processor-readable storage medium 240 may include one or more instructions stored thereon that, when executed, cause the processor to transmit the one or more signals to the one or more actuators 230. At block 730, the non-transitory,processor-readable storage medium 240 may include one or more instructions stored thereon that, when executed, cause the processor to control an aerial vehicle 500 by the one or more actuators 230 in accordance with the control torque for the control moment gyroscopes 305 to maintain the states related to human comforts within the acceptable state values.

[0061] The preceding description is provided to enable any person skilled in the art to practice the various embodiments described herein. The examples discussed herein are not limiting of the scope, applicability, or embodiments set forth in the claims. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments. For example, changes may be made in the function and arrangement of elements discussed without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For instance, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Also, features described with respect to some examples may be combined in some other examples. For example, an apparatus may be implemented or a method may be practiced using any number of the aspects set forth herein. In addition, the scope of the disclosure is intended to cover such an apparatus or method that is practiced using other structure, functionality, or structure and functionality in addition to, or other than, the various aspects of the disclosure set forth herein. It should be understood that any aspect of the disclosure disclosed herein may be embodied by one or more elements of a claim.

[0062] As used herein, the word “exemplary” means “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects.

[0063] As used herein, a phrase referring to “at least one of’ a list of items refers to any combination of those items, including single members. As an example, “at least one of: a, b, or c” is intended to cover a, b, c, a-b, a-c, b-c, and a-b-c, as well as any combination with multiples of the same element (e.g., a-a, a-a-a, a-a-b, a-a-c, a-b-b, a-c-c, b-b, b-b-b, b-b-c, c-c, and c-c-c or any other ordering of a, b, and c). Reference to an element in the singular is not intended to mean only one unless specifically so stated, but rather “one or more.” For example, reference to an element (e.g., “a processor,” “a memory,” etc.), unless otherwise specifically stated, should be understood to refer to one or more elements (e.g., “one or more processors,” “one or more memories,” etc.). The terms “set” and “group” are intended to include one or more elements, and may be usedinterchangeably with “one or more.” Where reference is made to one or more elements performing functions (e.g., steps of a method), one element may perform all functions, or more than one element may collectively perform the functions. When more than one element collectively performs the functions, each function need not be performed by each of those elements (e.g., different functions may be performed by different elements) and / or each function need not be performed in whole by only one element (e.g., different elements may perform different sub-functions of a function). Similarly, where reference is made to one or more elements configured to cause another element (e.g., an apparatus) to perform functions, one element may be configured to cause the other element to perform all functions, or more than one element may collectively be configured to cause the other element to perform the functions. Unless specifically stated otherwise, the term “some” refers to one or more.

[0064] As used herein, the term “determining” encompasses a wide variety of actions. For example, “determining” may include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Also, “determining” may include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Also, “determining” may include resolving, selecting, choosing, establishing and the like.

[0065] The methods disclosed herein include one or more steps or actions for achieving the methods. The method steps and / or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is specified, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims. Further, the various operations of methods described above may be performed by any suitable means capable of performing the corresponding functions. The means may include various hardware and / or software component(s) and / or module(s), including, but not limited to a circuit, an application specific integrated circuit (ASIC), or processor. Generally, where there are operations illustrated in figures, those operations may have corresponding counterpart means-plus-function components with similar numbering.

[0066] The following claims are not intended to be limited to the embodiments shown herein, but are to be accorded the full scope consistent with the language of the claims. Within a claim, reference to an element in the singular is not intended to mean “one and only one” unless specifically so stated, but rather “one or more.” Unless specifically stated otherwise, the term “some” refers to one or more. No claim element is to be construed under the provisions of 35U.S.C. §112(f) unless the element is expressly recited using the phrase “means for” or, in the case of a method claim, the element is recited using the phrase “step for.” All structural and functional equivalents to the elements of the various aspects described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the claims. Moreover, nothing disclosed herein is intended to be dedicated to the public regardless of whether such disclosure is explicitly recited in the claims.

[0067] It should now be understood that the systems and methods described herein are provide improved stabilization of an aerial vehicle equipped with one or more control moment gyroscopes. The control moment gyroscopes are configured as “sub -actuators” to produce torque that assist the main actuator(s) of the aerial vehicle, while also taking into account a plurality of factors pertaining to human comfort during a route navigated by the aerial vehicle, and in response to mitigating the effect of high wind and / or turbulence experienced by the aerial vehicle. The systems and methods disclosed herein utilize the control moment gyroscopes that are adaptively controlled using a control algorithm to stabilize the aerial vehicle while considering human comforts during a flight by the aerial vehicle. In the control algorithm, any combination of the following factors may be taken into account during stabilization of the aerial vehicle: roll and pitch angle oscillation (magnitude and frequency); angular velocity oscillation (magnitude and frequency); angular jerk; longitudinal acceleration; and a rate of change in the altitude. The aerial vehicle may be stabilized within acceptable ranges of these factors, which users may be associated to feel comfortable with. The systems and methods disclosed herein provide various advantages, such as improved response and time, reduced power consumption, adaptive control of the aerial vehicle, robust against disturbance, and minimized motion sickness of users (for example, such as users do not feel uncomfortable during flight). Additional advantages include reduced load for pilots, and reduced power (or fuel) consumption.

[0068] Further aspects of the disclosure are provided by the subject matter of the following clauses.

[0069] An aerial vehicle system comprising: one or more actuators; a processor; and a non-transitory, computer-readable storage medium communicatively coupled to the processor, wherein the processor is configured to: receive one or more predetermined state values, wherein the one or more predetermined state values include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof; receive one or moresensing parameters; compare the one or more predetermined state values with the one or more sensing parameters; generate, based on the comparison, one or more signals to stabilize an aerial vehicle; transmit the one or more signals to the one or more actuators; and control, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

[0070] The aerial vehicle system according to the preceding clause, further comprising one or more sensors that are configured to acquire the one or more sensing parameters including an angular jerk, a rate of change in altitude, a magnitude and frequency of attitude oscillation, a magnitude and frequency of angular velocity oscillation, a longitudinal acceleration, or any combination thereof.

[0071] The aerial vehicle system according to any of the preceding clauses, wherein the one or more actuators comprise a first control moment gyroscope configured to control a roll axis, and a second control moment gyroscope configured to control a pitch axis.

[0072] The aerial vehicle system according to the preceding clause, wherein at least one of the first or the second control moment gyroscopes includes a flywheel, a wheel motor, and a gimbal motor.

[0073] The aerial vehicle system according to any of the preceding clauses, wherein the one or more actuators comprise at least three control moment gyroscopes.

[0074] The aerial vehicle system according to the preceding clause, wherein a first control moment gyroscope is configured to control a roll axis, a second control moment gyroscope is configured to control a pitch axis, and a third control moment gyroscope is configured to control a yaw axis.

[0075] The aerial vehicle system according to any of the preceding clauses, wherein the processor is configured to: store aerial vehicle flight data; feed the aerial vehicle flight data as input to train an artificial intelligence-based control algorithms; predict, as an output from the artificial intelligence-based control algorithms, control torque; and generate an amount of torque corresponding to the control torque, via two or more control moment gyroscopes, to stabilize the aerial vehicle based on the predicted output.

[0076] A method, comprising: receiving one or more predetermined state values, wherein the one or more predetermined state values include one or more user values associated with aerialinstability including turbulence, motion sickness, or any combination thereof; receiving one or more sensing parameters; comparing the one or more predetermined state values with the one or more sensing parameters; generating, based on the comparison, one or more signals to stabilize an aerial vehicle; transmitting the one or more signals to the one or more actuators; and controlling, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

[0077] The method according to the preceding clause, further comprising acquiring, by one or more sensors, the one or more sensing parameters including an angular jerk, a rate of change in altitude, a magnitude and frequency of attitude oscillation, a magnitude and frequency of angular velocity oscillation, a longitudinal acceleration, or any combination thereof.

[0078] The method according to any of the preceding clauses, further comprising: controlling a roll axis by a first control moment gyroscope; and controlling a pitch axis by a second control moment gyroscope.

[0079] The method according to the preceding clause, wherein at least one of the first or the second control moment gyroscopes includes a flywheel, a wheel motor, and a gimbal motor.

[0080] The method according to any of the preceding clauses, wherein the one or more actuators comprise at least three control moment gyroscopes.

[0081] The method according to the preceding clause, further comprising: controlling a roll axis by a first control moment gyroscope; controlling a pitch axis by a second control moment gyroscope; and controlling a yaw axis by a third control moment gyroscope.

[0082] The method according to the preceding clause, further comprising: storing aerial vehicle flight data; feeding the aerial vehicle flight data as input to train an artificial intelligencebased control algorithms; predicting, as an output from the artificial intelligence-based control algorithms, control torque; and generating an amount of torque corresponding to the control torque, via two or more control moment gyroscopes, to stabilize the aerial vehicle based on the predicted output.

[0083] A non-transitory, computer-readable medium comprising instructions that, when executed by at least one processor, cause the at least one processor to perform one or more operations comprising: receiving one or more predetermined state values, wherein the one or morepredetermined state values include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof; receiving one or more sensing parameters; comparing the one or more predetermined state values with the one or more sensing parameters; generating, based on the comparison, one or more signals to stabilize an aerial vehicle; transmitting the one or more signals to the one or more actuators; and controlling, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

[0084] The non-transitory, computer-readable medium according to the preceding clause, the one or more operations further comprising acquiring, by one or more sensors, the one or more sensing parameters including an angular jerk, a rate of change in altitude, a magnitude and frequency of attitude oscillation, a magnitude and frequency of angular velocity oscillation, a longitudinal acceleration, or any combination thereof.

[0085] The non-transitory, computer-readable medium according to any of the preceding clauses, the one or more operations further comprising: storing aerial vehicle flight data; feeding the aerial vehicle flight data as input to train an artificial intelligence-based control algorithms; predicting, as an output from the artificial intelligence-based control algorithms, control torque corresponding to the control torque; and generating an amount of torque, via two or more control moment gyroscopes, to stabilize the aerial vehicle based on the predicted output.

[0086] The non-transitory, computer-readable medium according to any of the preceding clauses, the one or more operations further comprising: controlling a roll axis by a first control moment gyroscope; controlling a pitch axis by a second control moment gyroscope; and controlling a yaw axis by a third control moment gyroscope.

[0087] The non-transitory, computer-readable medium according to any of the preceding clauses, the one or more operations further comprising: controlling a roll axis by a first control moment gyroscope; and controlling a pitch axis by a second control moment gyroscope;

[0088] The non-transitory, computer-readable medium according to the preceding clause, wherein at least one of the first or the second control moment gyroscopes includes a flywheel, a wheel motor, and a gimbal motor.

[0089] The preceding description is provided to enable any person skilled in the art to practice the various embodiments described herein. The examples discussed herein are not limiting of the scope, applicability, or embodiments set forth in the claims. Various modificationsto these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments. For example, changes may be made in the function and arrangement of elements discussed without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For instance, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Also, features described with respect to some examples may be combined in some other examples. For example, an apparatus may be implemented or a method may be practiced using any number of the aspects set forth herein. In addition, the scope of the disclosure is intended to cover such an apparatus or method that is practiced using other structure, functionality, or structure and functionality in addition to, or other than, the various aspects of the disclosure set forth herein. It should be understood that any aspect of the disclosure disclosed herein may be embodied by one or more elements of a claim.

[0090] As used herein, the word “exemplary” means “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects.

[0091] As used herein, a phrase referring to “at least one of’ a list of items refers to any combination of those items, including single members. As an example, “at least one of a, b, or c” is intended to cover a, b, c, a-b, a-c, b-c, and a-b-c, as well as any combination with multiples of the same element (e.g., a-a, a-a-a, a-a-b, a-a-c, a-b-b, a-c-c, b-b, b-b-b, b-b-c, c-c, and c-c-c or any other ordering of a, b, and c). Reference to an element in the singular is not intended to mean only one unless specifically so stated, but rather “one or more.” For example, reference to an element (e.g., “a processor,” “a memory,” etc.), unless otherwise specifically stated, should be understood to refer to one or more elements (e.g., “one or more processors,” “one or more memories,” etc.). The terms “set” and “group” are intended to include one or more elements, and may be used interchangeably with “one or more.” Where reference is made to one or more elements performing functions (e.g., steps of a method), one element may perform all functions, or more than one element may collectively perform the functions. When more than one element collectively performs the functions, each function need not be performed by each of those elements (e.g., different functions may be performed by different elements) and / or each function need not be performed in whole by only one element (e.g., different elements may perform different sub-functions of a function). Similarly, where reference is made to one or more elementsconfigured to cause another element (e.g., an apparatus) to perform functions, one element may be configured to cause the other element to perform all functions, or more than one element may collectively be configured to cause the other element to perform the functions. Unless specifically stated otherwise, the term “some” refers to one or more.

[0092] As used herein, the term “determining” encompasses a wide variety of actions. For example, “determining” may include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Also, “determining” may include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Also, “determining” may include resolving, selecting, choosing, establishing and the like.

[0093] The methods disclosed herein include one or more steps or actions for achieving the methods. The method steps and / or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is specified, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims. Further, the various operations of methods described above may be performed by any suitable means capable of performing the corresponding functions. The means may include various hardware and / or software component(s) and / or module(s), including, but not limited to a circuit, an application specific integrated circuit (ASIC), or processor. Generally, where there are operations illustrated in figures, those operations may have corresponding counterpart means-plus-function components with similar numbering.

[0094] The following claims are not intended to be limited to the embodiments shown herein, but are to be accorded the full scope consistent with the language of the claims. Within a claim, reference to an element in the singular is not intended to mean “one and only one” unless specifically so stated, but rather “one or more.” Unless specifically stated otherwise, the term “some” refers to one or more. No claim element is to be construed under the provisions of 35 U.S.C. §112(f) unless the element is expressly recited using the phrase “means for” or, in the case of a method claim, the element is recited using the phrase “step for.” All structural and functional equivalents to the elements of the various aspects described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the claims. Moreover, nothing disclosed herein is intended to be dedicated to the public regardless of whether such disclosure is explicitly recited in the claims.

Claims

CLAIMS1. An aerial vehicle system comprising: one or more actuators; a processor; and a non-transitory, computer-readable storage medium communicatively coupled to the processor, wherein the processor is configured to: receive one or more predetermined state values, wherein the one or more predetermined state values include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof; receive one or more sensing parameters; compare the one or more predetermined state values with the one or more sensing parameters; generate, based on the comparison, one or more signals to stabilize an aerial vehicle; transmit the one or more signals to the one or more actuators; and control, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

2. The aerial vehicle system according to claim 1, further comprising one or more sensors that are configured to acquire the one or more sensing parameters including an angular jerk, a rate of change in altitude, a magnitude and frequency of attitude oscillation, a magnitude and frequency of angular velocity oscillation, a longitudinal acceleration, or any combination thereof.

3. The aerial vehicle system according to claim 1, wherein the one or more actuators comprise a first control moment gyroscope configured to control a roll axis, and a second control moment gyroscope configured to control a pitch axis.

4. The aerial vehicle system according to claim 1, wherein at least one of the first or the second control moment gyroscopes includes a flywheel, a wheel motor, and a gimbal motor.

5. The aerial vehicle system according to claim 1, wherein the one or more actuators comprise at least three control moment gyroscopes.

6. The aerial vehicle system according to claim 5, wherein a first control moment gyroscope is configured to control a roll axis, a second control moment gyroscope is configured to control a pitch axis, and a third control moment gyroscope is configured to control a yaw axis.

7. The aerial vehicle system according to claim 1, wherein the processor is configured to: store aerial vehicle flight data; feed the aerial vehicle flight data as input to train an artificial intelligence-based control algorithms; predict, as an output from the artificial intelligence-based control algorithms, control torque corresponding to the control torque; and generate an amount of torque, via two or more control moment gyroscopes, to stabilize the aerial vehicle based on the predicted output.

8. A method, comprising: receiving one or more predetermined state values, wherein the one or more predetermined state values include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof; receiving one or more sensing parameters; comparing the one or more predetermined state values with the one or more sensing parameters; generating, based on the comparison, one or more signals to stabilize an aerial vehicle; transmitting the one or more signals to the one or more actuators; and controlling, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

9. The method according to claim 8, further comprising acquiring, by one or more sensors, the one or more sensing parameters including an angular jerk, a rate of change in altitude, a magnitude and frequency of attitude oscillation, a magnitude and frequency of angular velocity oscillation, a longitudinal acceleration, or any combination thereof.

10. The method according to claim 8, further comprising: controlling a roll axis by a first control moment gyroscope; and controlling a pitch axis by a second control moment gyroscope.

11. The method according to claim 10, wherein at least one of the first or the second control moment gyroscopes includes a flywheel, a wheel motor, and a gimbal motor.

12. The method according to claim 8, wherein the one or more actuators comprise at least three control moment gyroscopes.

13. The method according to claim 12, further comprising: controlling a roll axis by a first control moment gyroscope; controlling a pitch axis by a second control moment gyroscope; and controlling a yaw axis by a third control moment gyroscope.

14. The method according to claim 8, further comprising: storing aerial vehicle flight data; feeding the aerial vehicle flight data as input to train an artificial intelligence-based control algorithms; predict, as an output from the artificial intelligence-based control algorithms, control torque; and generating an amount of torque corresponding to the control torque, via two or more control moment gyroscopes, to stabilize the aerial vehicle based on the predicted output.

15. A non-transitory, computer-readable medium comprising instructions that, when executed by at least one processor, cause the at least one processor to perform one or more operations comprising: receiving one or more predetermined state values, wherein the one or more predetermined state values include one or more user values associated with aerial instability including turbulence, motion sickness, or any combination thereof; receiving one or more sensing parameters; comparing the one or more predetermined state values with the one or more sensing parameters; generating, based on the comparison, one or more signals to stabilize an aerial vehicle; transmitting the one or more signals to the one or more actuators; andcontrolling, in response to the one or more signals, stabilization of the aerial vehicle by the one or more actuators.

16. The non-transitory, computer-readable medium according to claim 15, the one or more operations further comprising acquiring, by one or more sensors, the one or more sensing parameters including an angular jerk, a rate of change in altitude, a magnitude and frequency of attitude oscillation, a magnitude and frequency of angular velocity oscillation, a longitudinal acceleration, or any combination thereof.

17. The non-transitory, computer-readable medium according to claim 15, the one or more operations further comprising: storing aerial vehicle flight data; feeding the aerial vehicle flight data as input to train an artificial intelligence-based control algorithms; predict, as an output from the artificial intelligence-based control algorithms, control torque; and generating an amount of torque corresponding to the control torque, via two or more control moment gyroscopes, to stabilize the aerial vehicle based on the predicted output.

18. The non-transitory, computer-readable medium according to claim 15, the one or more operations further comprising: controlling a roll axis by a first control moment gyroscope; controlling a pitch axis by a second control moment gyroscope; and controlling a yaw axis by a third control moment gyroscope.

19. The non-transitory, computer-readable medium according to claim 15, the one or more operations further comprising: controlling a roll axis by a first control moment gyroscope; and controlling a pitch axis by a second control moment gyroscope;20. The non-transitory, computer-readable medium according to claim 19, wherein at least one of the first or the second control moment gyroscopes includes a flywheel, a wheel motor, and a gimbal motor.

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