Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight
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Date
2020-09
Publication Type
Journal Article
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yes
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Abstract
Omnidirectional micro-aerial vehicles (MAVs) 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-degree-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.
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published
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Journal / series
Volume
39 (10-11)
Pages / Article No.
1305 - 1325
Publisher
SAGE
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Edition / version
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Software
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Date collected
Date created
Subject
Aerial robotics; optimal control; omnidirectional MAV; tiltrotor; design optimization
Organisational unit
03737 - Siegwart, Roland Y. (emeritus) / Siegwart, Roland Y. (emeritus)