A system for autonomous flight of an electric vertical takeoff and landing (eVTOL) aircraft. The system may include a fuselage, a plurality of laterally extending elements, a plurality of propulsors, a flight controller, and a pilot override switch. The plurality of laterally extending elements are attached to the fuselage. The plurality of propulsors is attached to the plurality of laterally extending elements. The flight controller is communicatively connected to the pilot override switch. The flight controller is configured to identify a flight transition point, initiate rotation about an axis of the fuselage a as function of the flight transition point, and terminate rotation once the desired flight angle is reached.

A method of controlling a permanent magnet synchronous electric machine (PMSM) drive using a Deadbeat Predictive Current Control (DBPCC) scheme is provided. The method comprises: determining d-axis and q-axis stator current values (i.sub.d, i.sub.q) representative of a measured PMSM current; determining d-axis and q-axis reference current values (i.sub.d*, i.sub.q*); based on the stator current values (i.sub.d, i.sub.q) and the reference current values (i.sub.d*, i.sub.q*), determining d-axis and q-axis current correction values (C.sub.d, C.sub.q); determining corrected reference current values (i.sub.d**, i.sub.q**) as a sum of the reference current values (i.sub.d*, i.sub.q*) and the current correction values (C.sub.d, C.sub.q); and controlling the PMSM drive using the corrected reference current values (i.sub.d**, i.sub.q**) as reference current inputs of the DBPCC scheme. A controller for performing the method; a system comprising the controller, a PMSM and associated power electronics; and a computer program for performing the method are also provided.

A method of controlling a permanent magnet synchronous electric machine (PMSM) drive using a Deadbeat Predictive Current Control (DBPCC) scheme is provided. The method comprises: determining d-axis and q-axis stator current values (i.sub.d, i.sub.q) representative of a measured PMSM current; determining d-axis and q-axis reference current values (i.sub.d*, i.sub.q*); based on the stator current values (i.sub.d, i.sub.q) and the reference current values (i.sub.d*, i.sub.q*), determining d-axis and q-axis current correction values (C.sub.d, C.sub.q); determining corrected reference current values (i.sub.d**, i.sub.q**) as a sum of the reference current values (i.sub.d*, i.sub.q*) and the current correction values (C.sub.d, C.sub.q); and controlling the PMSM drive using the corrected reference current values (i.sub.d**, i.sub.q**) as reference current inputs of the DBPCC scheme. A controller for performing the method; a system comprising the controller, a PMSM and associated power electronics; and a computer program for performing the method are also provided.

Hybrid electric propulsion systems are described. The systems include a gas turbine engine having a low speed spool and a high speed spool. The low speed spool includes a low pressure compressor and a low pressure turbine and the high speed spool includes a high pressure compressor and a high pressure turbine. An electric machine is configured to augment rotational power of at least one of the high speed spool and the low speed spool. A controller is configured to control the electric machine to one of add or subtract rotational energy to or from at least one of the high speed spool and the low speed spool during a transition to or from an idle state of operation of the gas turbine engine.

Examples described herein provide a computer-implemented method for managing battery usage for a hybrid electric engine of an aircraft. The method includes receiving a flight plan comprising flight plan data for a flight of an aircraft. The method further includes receiving battery data about a battery system of the aircraft. The method further includes determining waypoints for when to apply electric power from the battery system based at least in part on the flight plan data and the battery data. The method further includes controlling, based at least in part on the waypoints, an electric motor while the flight plan is executed. The method further includes updating, while the flight plan is executed, the waypoints based at least in part on data received during the flight.

Systems and methods for controlling a coaxial rotary-wing aircraft including a co-axial main rotor assembly and a pusher-propeller. One system includes an electronic controller configured to receive a reference velocity of the aircraft and receive a reference flight path angle of the aircraft. The electronic controller is also configured to simultaneously control the co-axial main rotor assembly and the pusher-propeller based on the reference velocity of the aircraft and the reference flight path angle of the aircraft, by simultaneously generating a commanded thrust of the pusher-propeller and a commanded thrust of the co-axial main rotor assembly using a multiple input, multiple output algorithm applying dynamic inversion.

Variations of an aerial vehicle, all with capability of vertical take-off and landing (VTOL), with one variation comprising at least three engines, at least three rotors, a flight control system, battery, and propulsion system. The second VTOL aerial vehicle variation being a hybrid with engine-powered rotors and electric-powered rotors configured to work with a flight control system and battery. The first and second variations having the option of a genset system which recharges the battery. The third VTOL aerial vehicle variation being all-electric-powered rotors configured to work with a flight control system and a genset system which powers the rotors and/or recharges the battery.

Variations of an aerial vehicle, all with capability of vertical take-off and landing (VTOL), with one variation comprising at least three engines, at least three rotors, a flight control system, battery, and propulsion system. The second VTOL aerial vehicle variation being a hybrid with engine-powered rotors and electric-powered rotors configured to work with a flight control system and battery. The first and second variations having the option of a genset system which recharges the battery. The third VTOL aerial vehicle variation being all-electric-powered rotors configured to work with a flight control system and a genset system which powers the rotors and/or recharges the battery.

A method for controlling an overdetermined system with multiple power-restricted actuators that perform a primary task and non-primary tasks, including: a) determining a pseudo-control command based on a physical model of the system, which pseudo-control command represents the torques and a total thrust force acting on the system, b) determining a control matrix, c) dissociating the control matrix into sub control matrices, wherein the sub control matrices and the corresponding sub pseudo-control commands correspond to the primary task for i=1 and for i>1 correspond to the non-primary task(s) and a priority of the non-primary tasks decreases with increasing index i, d) determining actuator control commands for solving the primary task, e) projecting the non-primary tasks into the null space of the primary task, and into respective null spaces of all of the non-primary tasks of higher priority, if present, and f) providing the actuator control commands from d) and e) at the actuators.

A robot including a hybrid fan-based and fluid-based propulsion system to provide thrust, such as deceleration during fall to create a smooth landing or to provide a quick reduction in velocity, and to provide actuation/controlled motion, such as to hover after quick deceleration and to control orientation or pose. The hybrid propulsion system uses discharging of pressurized fluid and exhausted gas (or fluid in some cases) from ducted fans (or propellers, impellers, and the like) to provide controlled thrust and/or lift forces. The hybrid propulsion system uses of pressurized fluid for generating larger or primary thrust and quick changes in velocity. The hybrid propulsion system includes a fan-based propulsion assembly with ducted fans that use environmental air (or fluids) to provide lower or secondary thrust. Both types of propulsion can be integrated into a robot or robotic figure to move the robot during flight (e.g., during falling or hovering).