Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor

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90 Citations (Scopus)

Abstract

We present FAST-Hex, a novel UAV concept which is able to smoothly change its configuration from underactuated to fully actuated by using only one additional motor that tilts all propellers at the same time. FAST-Hex can adapt to the task at hand by finely tuning its configuration from the efficient (but underactuated) flight (typical of coplanar multi-rotor platforms) to the full-pose-tracking (but less efficient) flight, which is attainable by non-coplanar multi-rotors. We also introduce a novel full-pose geometric controller for generic multi-rotors (not only the FAST-Hex) that outperforms classical inverse dynamics approaches. The controller receives as input any reference pose in ℝ3×SO(3) (3D position + 3D orientation). Exact tracking is achieved if the reference pose is feasible with respect to the propeller spinning rate saturations. In case of unfeasibility a new feasible desired trajectory is generated online giving priority to the positional part. The new controller is tested with the FAST-Hex but can be used for many other multi-rotor platforms: underactuated, slightly fully-actuated and completely fully-actuated.

Original languageEnglish
Title of host publication2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1689-1694
Number of pages6
ISBN (Electronic)978-1-5090-3762-9
ISBN (Print)978-1-5090-3763-6, 978-1-5090-3761-2
DOIs
Publication statusPublished - 28 Nov 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016
http://www.iros2016.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16
Internet address

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