FAST-Hex -- A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation

Markus Ryll*, Davide Bicego, Mattia Giurato, Marco Lovera, Antonio Franchi

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

12 Citations (Scopus)
143 Downloads (Pure)


We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but under-actuated, collinear multi-rotors and the less efficient, but full-pose-tracking, which is attained by non-collinear multi-rotors. On the basis of prior work on minimal input configurable micro aerial vehicle we mainly stress three aspects: mechanical design, motion control and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows it to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in $\mathbb{R}^3\times \mathrm{SO}(3)$ (3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actuator constraints. In case of unfeasibility a new feasible desired trajectory is generated online giving priority to the position tracking over the orientation tracking. Finally we present a large set of experimental results shading light on all aspects of the control and pose tracking of FAST-Hex.
Original languageEnglish
Pages (from-to)1244-1255
JournalIEEE/ASME transactions on mechatronics
Issue number3
Early online date26 Jul 2021
Publication statusPublished - Jun 2022


  • 22/1 OA procedure


Dive into the research topics of 'FAST-Hex -- A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation'. Together they form a unique fingerprint.

Cite this