Affiliation:
1. ETH Zürich, Switzerland
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.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
40 articles.
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1. Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV;Journal of Intelligent & Robotic Systems;2024-01-25
2. Evaluation of a Tiltrotor Module for Electric Vertical Takeoff and Landing Flight;AIAA SCITECH 2024 Forum;2024-01-04
3. Quadcopter Stability: The Effects of CoM, Dihedral Angle and Its Uncertainty;Iranian Journal of Science and Technology, Transactions of Mechanical Engineering;2023-12-25
4. Experimental Results;Springer Tracts in Advanced Robotics;2023-12-16
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