A nonparallel hexrotor UAV with faster response to disturbances for precision position keeping

Jiang, Guangying; Voyles, Richard M.

doi:10.1109/ssrr.2014.7017669

Cited by 41 publications

(13 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This SmQ system, yet, still cannot exert a downward force larger than its own weight due to the unilateral thrust generation of the standard drones. More closely related to our proposed ODAR system are the designs of [10]- [14], where rotors attached with nonparallel directions are used to attain the full-actuation on SE (3) with no extra actuation. The works of [10]- [12] however optimize (or adjust) only the direction of the six rotors in S 1 while leaving their positions to be the same as those of the standard hexarotors.…”

mentioning

confidence: 99%

ODAR: Aerial Manipulation Platform Enabling Omnidirectional Wrench Generation

Park

Lee

Ahn

et al. 2018

IEEE/ASME Trans. Mechatron.

139

View full text Add to dashboard Cite

We propose a novel aerial manipulation platform, an omnidirectional aerial robot, that is capable of omnidirectional wrench generation with opportunistically distributed/aligned Sectional rotors. To circumvent the tight thrust margin and weight budget of currently available rotor and battery technologies, we propose a novel design optimization framework, which maximizes the minimumguaranteed control force/torque for any attitude while incorporating such important and useful aspects as interrotor aerointerference, anisotropic task requirement, gravity compensation, etc. We also provide a closed-form solution of infinity-norm optimal control allocation to avoid rotor saturation with the tight thrust margin. Further, we elaborate the notion of electronic speed controller induced singularity and devise a novel selective mapping algorithm to substantially subdue its destabilizing effect. Experiments are performed to validate the theory, which demonstrate such capabilities not possible with typical aerial manipulation systems, namely, separate translation and attitude control on SE(3), hybrid pose/wrench control with downward force of 60 N much larger than its own weight (2.6 kg), and peg-inhole teleoperation with a radial tolerance of 0.5 mm.

show abstract

mentioning

confidence: 99%

ODAR: Aerial Manipulation Platform Enabling Omnidirectional Wrench Generation

Park

Lee

Ahn

et al. 2018

IEEE/ASME Trans. Mechatron.

139

View full text Add to dashboard Cite

show abstract

“…In particular, by using matrix multiplication as the group operation, the attitude error R e = RR T p , is employed as the attitude error measure in SO (3), which was already introduced in equation (22). The error kinematics can be derived from (4) and (13) as follows:…”

Section: B Control Torque and Attitude Error Dynamicsmentioning

confidence: 99%

“…By designing an actuation mechanism that can change the thrust direction, a net force can be produced with respect to the aircraft frame, which allows to handle more complex maneuvering. Thrust-vectoring UAVs can be realized by mounting the propellers in a non-coplanar fashion [4], [13], [24], [25] or by employing servo-actuators to dynamically adjust their orientation [8], [9], [23], [27]. While the dynamically tiltable configuration is efficient in terms of power consumption and may achieve full actuation [27], it has a more complex mechanical structure.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Invernizzi

Lovera

Zaccarian

2020

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks. Since position tracking is of utmost importance for applications involving aerial vehicles, we propose a control scheme in which position tracking is the primary objective. To this end, this work introduces the concept of attitude planner, a dynamical system through which the desired attitude reference is processed to guarantee the satisfaction of the primary objective: the attitude tracking task is considered as a secondary objective which can be realized as long as the desired trajectory satisfies specific trackability conditions. Two numerical simulations are performed by applying the proposed control law to a hexacopter with and without tilted propellers, which accounts for unmodeled dynamics and external disturbances not included in the control design model.

show abstract

“…Therefore, passively tilted non-flat configuration is more suitable for analysis and realization. Furthermore, an analysis of the tilt angle parameter is given in [10]. The drawback of the presented papers is a limitation in the mathematical representation of the multirotor configuration, so the analysis is also restricted to specific multirotor parameters.…”

Section: Introductionmentioning

confidence: 99%

Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

Kotarski

Piljek

Brezak

et al. 2018

TFAMENA

View full text Add to dashboard Cite

SummaryIn this paper, a control allocation scheme is presented for a multirotor type of an Unmanned Aerial Vehicle (UAV). The control allocation scheme depends on the multirotor configuration and rotor system parameters, and it enables analysis of dynamics of different multirotor designs depending on the purpose and the task which the multirotor has to carry out. The analysis of force and moment distribution in space shows that the non-flat design with passively tilted rotors can overcome an inherent underactuated condition of flat multirotor configurations. By increasing the tilt angle, the multirotor is able to achieve full controllability over its six degrees of freedom (6 DOFs). A robust chattering-free sliding mode asymptotic tracking control design of a fully actuated multirotor is presented. The simulation results show satisfying tracking performance of the proposed controller.

show abstract

A nonparallel hexrotor UAV with faster response to disturbances for precision position keeping

Cited by 41 publications

References 8 publications

ODAR: Aerial Manipulation Platform Enabling Omnidirectional Wrench Generation

ODAR: Aerial Manipulation Platform Enabling Omnidirectional Wrench Generation

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

Contact Info

Product

Resources

About