Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight

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 t...

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Bibliographic Details
Published in:arXiv.org 2020-03
Main Authors: Allenspach, Mike, Bodie, Karen, Brunner, Maximilian, Rinsoz, Luca, Taylor, Zachary, Kamel, Mina, Siegwart, Roland, Nieto, Juan
Format: Article
Language:English
Subjects:
Actuators
Configuration management
Design optimization
Micro air vehicles (MAV)
Morphology
Optimal control
Robustness
Systems design
Online Access:Get full text
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Summary: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.
ISSN:2331-8422
DOI:10.48550/arxiv.2003.09512