Tip-over stability analysis and enhancement for a wall-perching quadcopter based on negative-pressure effect

A suction force model for a noncontact negative-pressure suction cup designed for multi-rotor aircraft's wall-perching is established. To address the negative stiffness phase in the suction model, a model to determine tip-over instability conditions during wall-landing and take-off is developed. Based on the ceiling-perching tip-over instability model, an onboard parallel posture-adjustment platform actively regulates the suction-cup-to-wall clearance and tilt angles, thereby enhancing tip-over stability during wall-landing and take-off. Results demonstrate that the quadrotor with negative-pressure suction effectively extends the ceiling effect range of ducted rotors, enabling low-power-consumption adhesion to ceilings. The parallel platform improves disturbance rejection by actively modulating the wall-cup clearance during wall-landing and take-off, effectively preventing quadcopter tip-over.