Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight. (September 2020)

• Record Type: Journal Article
• Authors: Allenspach, Mike; Bodie, Karen; Brunner, Maximilian; Rinsoz, Luca; Taylor, Zachary; Kamel, Mina; Siegwart, Roland; Nieto, Juan
• Is Part Of: International journal of robotics research. Volume 39:Number 10/11(2020)
• Page Start: 1305
• Page End: 1325
• Publication Date: 2020-09
• Subjects: Aerial robotics -- optimal control -- omnidirectional MAV -- tiltrotor -- design optimization; Robots -- Periodicals; Robots, Industrial -- Periodicals; 629.89205
• DOI: 10.1177/0278364920943654
• Languages: English
• ISSNs: 0278-3649

Abstract

Omnidirectional 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.