TY - JOUR
T1 - FAST-Hex -- A Morphing Hexarotor
T2 - Design, Mechanical Implementation, Control and Experimental Validation
AU - Ryll, Markus
AU - Bicego, Davide
AU - Giurato, Mattia
AU - Lovera, Marco
AU - Franchi, Antonio
PY - 2021/7/26
Y1 - 2021/7/26
N2 - 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.
AB - 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.
KW - 22/1 OA procedure
UR - http://www.scopus.com/inward/record.url?eid=2-s2.0-85111559653&partnerID=MN8TOARS
U2 - 10.1109/TMECH.2021.3099197
DO - 10.1109/TMECH.2021.3099197
M3 - Article
JO - IEEE/ASME transactions on mechatronics
JF - IEEE/ASME transactions on mechatronics
SN - 1083-4435
ER -