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arXiv · 2003.09512

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

Mike Allenspach·Karen Bodie·Maximilian Brunner·Luca Rinsoz·Zachary Taylor·Mina Kamel·Roland Siegwart·Juan Nieto
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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.

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Mike Allenspach, Karen Bodie, Maximilian Brunner, Luca Rinsoz, Zachary Taylor, Mina Kamel, Roland Siegwart, Juan Nieto. 2020-03-20. Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight. https://doi.org/10.1177/0278364920943654

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