Name
Title | ||
|---|---|---|
Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight |
Abstract | ||
|---|---|---|
AbstractOmnidirectional micro-aerial vehicles (MAVs) are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six-degree-of-freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system’s capabilities. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1177/0278364920943654 | Periodicals |
Keywords | DocType | Volume |
Aerial robotics, optimal control, omnidirectional MAV, tiltrotor, design optimization | Journal | 39 |
Issue | ISSN | Citations |
10-11 | 0278-3649 | 1 |
PageRank | References | Authors |
0.40 | 0 | 8 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mike Allenspach | 1 | 1 | 0.40 |
| Karen Bodie | 2 | 7 | 2.51 |
| Maximilian Brunner | 3 | 6 | 2.60 |
| Luca Rinsoz | 4 | 1 | 0.40 |
| Zachary Taylor | 5 | 46 | 4.95 |
| mina kamel | 6 | 78 | 11.98 |
| Roland Siegwart | 7 | 7640 | 551.49 |
| Juan I. Nieto | 8 | 939 | 88.52 |