Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV

Youssef Aboudorra*, Chiara Gabellieri*, Ralph Brantjes, Quentin Sablé, Antonio Franchi

*Corresponding author for this work

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This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers’ mutual aerodynamic interference.

Original languageEnglish
Article number21
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1
Early online date25 Jan 2024
Publication statusPublished - Mar 2024


  • Aerial robotics
  • Multi-rotor aerial vehicles
  • Omnidirectional UAVs
  • Robot control
  • Robot modelling
  • Unmanned aerial vehicles


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