Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight
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. Show more
Publication status
publishedExternal links
Journal / series
The International Journal of Robotics ResearchVolume
Pages / Article No.
Publisher
SAGESubject
Aerial robotics; optimal control; omnidirectional MAV; tiltrotor; design optimizationOrganisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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