Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight
Abstract
Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six degrees of freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system's capabilities.
- Publication:
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arXiv e-prints
- Pub Date:
- March 2020
- DOI:
- 10.48550/arXiv.2003.09512
- arXiv:
- arXiv:2003.09512
- Bibcode:
- 2020arXiv200309512A
- Keywords:
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- Computer Science - Robotics
- E-Print:
- 16 pages, 24 figures, 3 page appendix, video available at https://youtu.be/mBi9mOQaZzQ