Modeling, control and design optimization for a fully-actuated hexarotor aerial vehicle with tilted propellers

Sujit Rajappa, Markus Ryll, Heinrich H. Bulthoff, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

105 Citations (Scopus)

Abstract

Mobility of a hexarotor UAV in its standard configuration is limited, since all the propeller force vectors are parallel and they achieve only 4-DoF actuation, similar, e.g., to quadrotors. As a consequence, the hexarotor pose cannot track an arbitrary trajectory while the center of mass is tracking a position trajectory. In this paper, we consider a different hexarotor architecture where propellers are tilted, without the need of any additional hardware. In this way, the hexarotor gains a 6-DoF actuation which allows to independently reach positions and orientations in free space and to be able to exert forces on the environment to resist any wrench for aerial manipulation tasks. After deriving the dynamical model of the proposed hexarotor, we discuss the controllability and the tilt angle optimization to reduce the control effort for the specific task. An exact feedback linearization and decoupling control law is proposed based on the input-output mapping, considering the Jacobian and task acceleration, for non-linear trajectory tracking. The capabilities of our approach are shown by simulation results.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages4006-4013
Number of pages8
ISBN (Electronic)978-1-4799-6923-4
ISBN (Print)978-1-4799-6921-0
DOIs
Publication statusPublished - 29 Jun 2015
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2015
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Abbreviated titleICRA
CountryUnited States
CitySeattle
Period26/05/1530/05/15

Fingerprint Dive into the research topics of 'Modeling, control and design optimization for a fully-actuated hexarotor aerial vehicle with tilted propellers'. Together they form a unique fingerprint.

Cite this